Compliant motion task specification by human demonstration
Programming by human demonstration exploits the advanced human manipulation skills to obtain a task description of a complex compliant motion task.
Compliant motion task specification through automatic planning
A compliant path planner calculates a path for two objects in contact, based on the geometric model of both objects and a contact state graph describing all possible contacts between the two objects.
Force controlled execution
The geometric description of a path in contact is translated into a task specification for a hybrid controller, allowing a robot manipulator to execute the compliant path under active force control.