Motion planning of skillful motions in assembly process through human demonstration
Sign Up to like & getrecommendations! Published in 2020 at "Advanced Robotics"
DOI: 10.1080/01691864.2020.1782260
Abstract: ABSTRACT Skillful motions in the actual assembly process are challenging for the robot to generate with conventional motion planning approaches because some states during the human assembly can be too skillful to realize automatically due… read more here.
Keywords: motion; assembly process; motion planning; human demonstration ... See more keywords
Simultaneously Learning of Motion, Stiffness, and Force From Human Demonstration Based on Riemannian DMP and QP Optimization
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2024.3469961
Abstract: In this paper, we propose a motion, stiffness, and force learning framework based on an extended dynamic movement primitive (DMP) and quadratic programming (QP) optimization. The objective is to learn kinematic and dynamic operational parameters… read more here.
Keywords: stiffness force; motion stiffness; motion; human demonstration ... See more keywords