An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks

An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks

Complex contact-rich insertion is a ubiquitous robotic manipulation skill and usually involves nonlinear and low-clearance insertion trajectories as well as varying force requirements. A hybrid trajectory and force learning framework can be utilized to generate high-quality trajectories by imitation...

Full description

Bibliographic Details
Main Authors: Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
Format: Article
Language:English
Published: Frontiers Media S.A. 2022-01-01
Series:Frontiers in Robotics and AI
Subjects:
compliance control
imitation learning
reinforcement learning
robotic assembly
robot autonomy
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.777363/full

Similar Items

Similar Items