Corpus ID: 232170172

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

@article{Wang2021RoboticIO,
  title={Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning},
  author={Yan Wang and C. C. Beltran-Hernandez and W. Wan and K. Harada},
  journal={ArXiv},
  year={2021},
  volume={abs/2103.05912}
}
Robotic assembly tasks involve complex and lowclearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic teaching, teleoperation, simulation, among other methods, the force profile is harder to obtain especially when a real robot is unavailable. It is difficult to obtain a realistic force profile in simulation even with physics engines. Such simulated force profiles… Expand

Figures and Tables from this paper

Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

References

SHOWING 1-10 OF 38 REFERENCES
Teach industrial robots peg-hole-insertion by human demonstration
Learning Robotic Assembly from CAD
Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input
Residual Reinforcement Learning for Robot Control
A geometric approach for learning compliant motions from demonstration
Deep reinforcement learning for high precision assembly tasks
...
1
2
3
4
...