Compliant motion

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.

Human demonstration: Click to play movieHuman demonstration: Click to play movie

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.
Compliant planning: Click to play movieCompliant planning: Click to play movie

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.
RealTime compliant motion execution: Click to play movieRealTime compliant motion execution: Click to play movie