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Modelling and learning of building blocks for shared control templates

Bader, Sebastian (2021) Modelling and learning of building blocks for shared control templates. DLR-Interner Bericht. DLR-IB-RM-OP-2021-189. Master's. Technical University of Munich. 76 S.

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In the field of assistive robotic robots aim to help users with impairments to execute daily living activities in everyday household environments. Controlling the high degrees of freedom of those robots directly, with a joystick, is often tedious and can cause a high cognitive workload. Using Shared control methods, like Shared Control Templates, provide task-specific guidance and constraints to facilitate control. However, designing SCTs requires robotic expertise and was previously hand-crafted. To make such designs easier and faster, we extend the SCT approach to facilitate the generation of SCT templates on the basis of demonstrations. We show the capabilities of this approach in a set of daily living tasks such as opening a drawer and pouring with the wheelchair-mounted robot EDAN.

Item URL in elib:https://elib.dlr.de/147791/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Modelling and learning of building blocks for shared control templates
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:76
Keywords:shared control, learning from demonstrations, assistive robots
Institution:Technical University of Munich
Department:Human-centered Assistive Robotics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Quere, Gabriel
Deposited On:20 Dec 2021 10:23
Last Modified:20 Dec 2021 10:23

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