Learning Force-Relevant Skills from Human Demonstration

Figure 12

Trajectory generation and force tracking with adaptive hybrid force/position control. (a) Interactive trajectory generation for the surface polishing. (b) Contact force tracking using adaptive PI controller with 2 trials in different values of . The blue region is the 3 interval of the contact force distribution and the black line is the desired force. The RMSE of the force tracking error is 1.58N for red curve.

(a)

(b)