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Intelligent robotic peg-in-hole insertion learning based on haptic virtual environment

Conference Paper


Abstract


  • A new approach is explored to transfer human manipulation skills to a robotics system. A skill acquisition algorithm utilizes the position and contact force/torque data generated in the virtual environment combined with a priori knowledge about the task to generate the skills required to perform such a task. Such skills are translated into actual robotic trajectories for implementation in real time. The peg-in-hole insertion problem is used as a case study. The results are reported. © 2007 IEEE.

Publication Date


  • 2007

Citation


  • Chen, Y., Han, X., Okada, M., Chen, Y., & Naghdy, F. (2007). Intelligent robotic peg-in-hole insertion learning based on haptic virtual environment. In Proceedings of 2007 10th IEEE International Conference on Computer Aided Design and Computer Graphics, CAD/Graphics 2007 (pp. 355-360). doi:10.1109/CADCG.2007.4407908

Scopus Eid


  • 2-s2.0-48149096707

Web Of Science Accession Number


Start Page


  • 355

End Page


  • 360

Abstract


  • A new approach is explored to transfer human manipulation skills to a robotics system. A skill acquisition algorithm utilizes the position and contact force/torque data generated in the virtual environment combined with a priori knowledge about the task to generate the skills required to perform such a task. Such skills are translated into actual robotic trajectories for implementation in real time. The peg-in-hole insertion problem is used as a case study. The results are reported. © 2007 IEEE.

Publication Date


  • 2007

Citation


  • Chen, Y., Han, X., Okada, M., Chen, Y., & Naghdy, F. (2007). Intelligent robotic peg-in-hole insertion learning based on haptic virtual environment. In Proceedings of 2007 10th IEEE International Conference on Computer Aided Design and Computer Graphics, CAD/Graphics 2007 (pp. 355-360). doi:10.1109/CADCG.2007.4407908

Scopus Eid


  • 2-s2.0-48149096707

Web Of Science Accession Number


Start Page


  • 355

End Page


  • 360