Research Article
Learning Force-Relevant Skills from Human Demonstration
Table 3
Result comparison of insertions for different tolerance fit or dimensions.
| Hole | Rate of success (%) | Avg. completion time (s) | Norm of contact force mean (std.dev) (N) | Avg. energy consumption (J) |
| 1 | 88 | 15.2 | 11.0 (6.2) | 1483 | 2 | 76 | 14.5 | 11.2 (6.3) | 1413 | 3 | 80 | 15.4 | 10.8 (6.5) | 1568 | 4 | 88 | 12.5 | 11.7 (6.4) | 1336 | 5 | 88 | 14.1 | 11.1 (5.7) | 1464 | 6 | 76 | 14.5 | 11.7 (6.1) | 1531 |
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