Human-in-the-loop Learning and Control for Robot Teleoperation

Chapter One: Introduction

Abstract

This chapter provides an overview of typical teleoperation systems, starting from a brief introduction of teleoperation and the composition of a typical teleoperation system. A number of unimodal and multimodal human–robot interfaces are introduced, aiming to provide a better interactive user experience in the application of teleoperation. Furthermore, human–robot skill transfer techniques of both the dynamical system approach and the probability and statistical approaches are discussed. Control algorithms including shared control, impedance control, and relevant advanced control methods used in teleoperation are also introduced. Finally, four representative projects of teleoperation are discussed, including the ...