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Adaptation of bimanual assembly tasks using iterative learning framework
2015
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
The paper deals with the adaptation of bimanual assembly tasks. First, the desired policy is shown by human demonstration using kinesthetic guidance, where both trajectories and interaction forces are captured. Captured entities are portioned to absolute and relative coordinates. During the execution, small discrepancies in object geometry as well as the influence of an imperfect control can result in large contact forces. Force control can diminish the above mentioned problems only to some
doi:10.1109/humanoids.2015.7363457
dblp:conf/humanoids/LikarNZAU15
fatcat:7hkx5hifkrbpves6sjve7r2gbe