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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2004> 13(2): 220-224
WANG Qin, MEI Zhi-qian, ZHANG Guang-li, YANG Ru-qing. Force Based Skill Learning for Robot Tasks in Contact Conditions[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2004, 13(2): 220-224.
Citation: WANG Qin, MEI Zhi-qian, ZHANG Guang-li, YANG Ru-qing. Force Based Skill Learning for Robot Tasks in Contact Conditions[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2004, 13(2): 220-224.
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Force Based Skill Learning for Robot Tasks in Contact Conditions

  • Research Institution of Robotics, Shanghai Jiaotong University, Shanghai200030, China

Funds:SponsoredbyNational“863”ProgramProject(863512972004)
  • Received Date:2002-08-19
    Abstract
  • To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
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