Force Feedback and Tactile Sensing for Robotic Teleoperation of Contact Rich Manipulation Tasks
Name
karpoor-skarpoor-meng-eecs-2024-thesis.pdf
Description
Thesis PDF
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7.1 MB
Format
Adobe PDF
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bbd87470a06bbfc8c7275ff9e7255c6f
Author(s)
Karpoor, Shreya S.
Advisor(s)
Agrawal, Pulkit
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
Imitation learning has shown promising results in teaching robots new skills. We propose augmenting the ALOHA bimanual teleoperation system with haptic feedback to obtain higher quality expert demonstrations. We add two types of haptic feedback: force feedback and cutaneous feedback in both a real and simulation teleoperation system. Additionally, we propose to add tactile sensors to observe the impact of tactile data to imitation learning models in solving fine manipulation tasks.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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