Force Feedback and Tactile Sensing for Robotic Teleoperation of Contact Rich Manipulation Tasks
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 a...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156561 |