Learning Force-Relevant Skills from Human Demonstration

<div>Block diagram of control system for polishing kinesthetic teaching. <svg height="14.8825pt" id="M105" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -11.5914 39.7366 14.8825" width="39.7366pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z"></path></g><g transform="matrix(.013,0,0,-0.013,14.396,0)"><path d="M448 1V51H364C248 51 153 129 140 230H448V280H140C153 381 248 459 364 459H448V509H365C208 509 80 395 80 255S208 1 365 1H448Z"></path></g><g transform="matrix(.013,0,0,-0.013,24.892,0)"><path d="M712 0L497 285C582 312 628 378 628 466C628 609 518 662 390 662H70V0H236V271H310L505 0H712ZM491 604C551 577 584 532 584 464C584 401 550 345 491 321V604ZM447 320C428 317 411 315 392 315H236V618H397C412 618 432 613 447 610V320ZM626 44H528L363 271C392 271 422 270 451 275L626 44ZM192 44H114V618H192V44Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,34.603,-5.741)"><path d="M141 347C171 480 264 541 327 570C364 587 403 599 436 605L429 641C389 634 339 622 300 609C191 570 37 458 37 239C37 86 126 -12 245 -12C367 -12 454 89 454 210C454 314 380 397 272 397C252 397 230 390 208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z"></path></g></svg> is the sensed force and is used for teaching.</div>

Complexity

Learning Force-Relevant Skills from Human Demonstration

Figure 7