Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile

Bojan Nemec, Fares J. Abu-Dakka, Barry Ridge, Aleš Ude, Jimmy A. Jørgensen, Thiusius Rajeeth Savarimuthu, Jerome Jouffroy, Henrik G. Petersen, Nobert Kruger

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

24 Citations (Scopus)


In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.

Original languageEnglish
Title of host publicationProceedings of the 16th International Conference on Advanced Robotics, ICAR 2013
ISBN (Electronic)978-1-4799-2722-7
Publication statusPublished - 2013
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Advanced Robotics - Montevideo, Uruguay
Duration: 25 Nov 201329 Nov 2013
Conference number: 16


ConferenceInternational Conference on Advanced Robotics
Abbreviated titleICAR


  • Trajectory
  • Robots
  • Force measurement
  • Torque
  • Torque measurement
  • Quaternions


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