On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks

@article{Montebelli2015OnHD,
  title={On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks},
  author={Alberto Montebelli and Franz Steinmetz and Ville Kyrki},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={5628-5634}
}
We present a (generalizable) method aimed to simultaneously transfer positional and force requirements encoded in a physical human skill (wood planing) from a human instructor to a robotic arm through kinesthetic teaching. We achieve our goal through a novel use of a common sensory configuration, constituted by a force/torque sensor mounted between the tool… CONTINUE READING

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