Compliant manipulation for peg-in-hole: Is passive compliance a key to learn contact motion?

We examine the usefulness of passive compliance in a manipulator that learns contact motion. Based on the notice that humans outperforms robots with the contact motion, we follow two aspects of human manipulation: passive compliance and learning. As imitation of human's arm and learning, we use...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 1647 - 1652
Main Author Seung-kook Yun
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Force control
Hardware
Humans
Learning
Manipulators
Robot sensing systems
Safety
Sampling methods
Springs
Uncertainty
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543437

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Summary:We examine the usefulness of passive compliance in a manipulator that learns contact motion. Based on the notice that humans outperforms robots with the contact motion, we follow two aspects of human manipulation: passive compliance and learning. As imitation of human's arm and learning, we use a robot arm with passive compliant joints and it learns a policy for peg in hole by the proposed gradient descending method. We present that the passive compliance provides with quick and stable learning as well as a slow control sampling time.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543437