Name
Title | ||
|---|---|---|
Transfer Of Assembly Operations To New Workpiece Poses By Adaptation To The Desired Force Profile |
Abstract | ||
|---|---|---|
In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes. |
Year | Venue | Field |
|---|---|---|
2013 | 2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | Computer vision,Control engineering,Artificial intelligence,Engineering,Robot,Trajectory control,Cartesian coordinate system |
DocType | Citations | PageRank |
Conference | 5 | 0.49 |
References | Authors | |
5 | 9 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bojan Nemec | 1 | 345 | 30.28 |
| Fares J. Abu-Dakka | 2 | 51 | 8.47 |
| Barry Ridge | 3 | 17 | 3.81 |
| Ales Ude | 4 | 898 | 85.11 |
| Jimmy A. Jørgensen | 5 | 82 | 7.89 |
| Thiusius Rajeeth Savarimuthu | 6 | 58 | 13.10 |
| J. Jouffroy | 7 | 86 | 10.24 |
| Henrik Gordon Petersen | 8 | 111 | 17.88 |
| Norbert Krüger | 9 | 342 | 28.49 |