Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning
Yan Wang Cristian C. Beltran-Hernandez Weiwei Wan Kensuke Harada Yan Wang Cristian C. Beltran-Hernandez Weiwei Wan Kensuke Harada
Robotic assembly tasks involve complex and low-clearance 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...