Human-to-Robot Skill Transfer Via Teleoperation

Programming robots to work in unstructured changing environments has proven to be di cult Hu mans however e ectively function in such environ ments We propose a framework for programming robotic tasks using teleoperation based human to robot skill transfer We assume that there exists a human expert who can accomplish a task in an unstructured environment solely through teleoperation based feed back The human expert performs the desired task a number of times while her his input output pairs are being recorded This recorded data is used to construct a mapping between these sensor inputs and actuator outputs The mapping is then used to autonomously control the robot In this paper we propose a set of characteristics which a human to robot skill transfer system should have We then summarize the system we have implemented and present the results of some experiments we have done in skill transfer in unstruc tured environments