Skill representation and acquisition of compliant motions using a teach device

Abstract

We are proposing a supervised learning approach in robot force control which enables robot programming by human demonstration. To demonstrate the task in an intuitive way, we designed a teach device which acquires the sensorimotion of the human. The design and use of the teaching device for skill acquisition is discussed. Recording of compliant motion, of the human is shown for the "put block in a corner of a box problem" and the "peg in hole problem". Skill representation is demonstrated for the first of the two problems. Finally we are describing other useful applications of the teach device in the field of world modeling and robotics.