Sensorimotor Skill Transfer of Compliant Motion

Abstract

Compliant motion tasks are easily performed by humans. The performance of robot manipulators in executing compliant motion tasks has been assessed by how close and versatile the system operates compared to a human. Since we humans can learn and optimize compliant motion tasks in a very short time, a straight forward and intriguing idea is to acquire the sensorimotion from a skilled operator and to transfer it to a sensor controlled robot system. In this paper we describe a consistent method that realizes the complete skill transfer process of sensorimotor compliant motion for assembly tasks.