Quick Setup of Force-Controlled Industrial Gluing Tasks Using Learning From Demonstration

Quick Setup of Force-Controlled Industrial Gluing Tasks Using Learning From Demonstration

This paper presents a framework for programming in-contact tasks using learning by demonstration. The framework is demonstrated on an industrial gluing task, showing that a high quality robot behavior can be programmed using a single demonstration. A unified controller structure is proposed for the...

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Bibliographic Details
Main Authors: Iñigo Iturrate, Aljaz Kramberger, Christoffer Sloth
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-11-01
Series:Frontiers in Robotics and AI
Subjects:
learning from demonstration
parameter estimation
force control
gluing
adaptive control
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.767878/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.767878/full

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