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dc.contributor.authorPeternel, L.
dc.contributor.authorÖztop, Erhan
dc.contributor.authorBabič, J.
dc.description.abstractWe propose a novel method that arbitrates the control between the human and the robot actors in a teaching-by-demonstration setting to form synergy between the two and facilitate effective skill synthesis on the robot. We employed the human-in-the-loop teaching paradigm to teleoperate and demonstrate a complex task execution to the robot in real-time. As the human guides the robot to perform the task, the robot obtains the skill online during the demonstration. To encode the robotic skill we employed Locally Weighted Regression that fits local models to specific state region of the task based on the human demonstration. If the robot is in the state region where no local models exist, the control over the robotic mechanism is given to the human to perform the teaching. When local models are gradually obtained in that region, the control is given to the robot so that the human can examine its performance already during the demonstration stage, and take actions accordingly. This enables a co-adaptation between the agents and contributes to a faster and more efficient teaching. As a proof-of-concept, we realised the proposed robot teaching system on a haptic robot with the task of generation of a desired vertical force on a horizontal plane with unknown stiffness properties.en_US
dc.description.sponsorshipEuropean Commission
dc.relation.ispartofIntelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference onen_US
dc.titleA shared control method for online human-in-the-loop robot learning based on Locally Weighted Regressionen_US
dc.typeConference paperen_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.subject.keywordsRobot sensing systemsen_US
dc.subject.keywordsTraining dataen_US
dc.subject.keywordsPredictive modelsen_US
dc.subject.keywordsRobot controlen_US
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff

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