2024
Enabling Maintainablity of Robot Programs in Assembly by Extracting Compositions of Force- and Position-Based Robot Skills from Learning-from-Demonstration Models
IROS 2024poster
To this day, only a small number of industrial robots is used in assembly. One key reason for this is that specific contact situations require the introduction of force-control schemes. The parameters for those schemes are hard to select in practice, because they require in-depth expertise about the…