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
Online AccessGet full text
ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543437

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Abstract 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.
AbstractList 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.
Author Seung-kook Yun
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Snippet We examine the usefulness of passive compliance in a manipulator that learns contact motion. Based on the notice that humans outperforms robots with the...
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StartPage 1647
SubjectTerms Force control
Hardware
Humans
Learning
Manipulators
Robot sensing systems
Safety
Sampling methods
Springs
Uncertainty
Title Compliant manipulation for peg-in-hole: Is passive compliance a key to learn contact motion?
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