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ICRA
2008
IEEE

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

8 years 10 months ago
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 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.
Seung-kook Yun
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Seung-kook Yun
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