Acquiring robust, force-based assembly skills from human demonstration

  title={Acquiring robust, force-based assembly skills from human demonstration},
  author={Marjorie Skubic and Richard A. Volz},
  journal={IEEE Trans. Robotics and Automation},
Robots have been used successfully in structured settings, where the environment is controlled; this research is inspired by the vision of robots moving beyond structured, controlled settings. The work focuses on the problem of teaching robots forcebased assembly skills from human demonstration. To avoid position dependencies, force-based discrete states (contact formations) are used to describe qualitatively how contact is being made with the environment. Sensorimotor skills are modeled using… CONTINUE READING
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