Force Control

Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

Combining imitation learning with reinforcement learning to solve complex robotic assembly tasks.

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic teaching, …

Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots

A learning-based force control framework for position-controlled robots


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