Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System

Understand

Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics.

• Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their inability to adapt to contact with the environment, potentially causing damage.
• While compliance control schemes have been introduced to mitigate these issues by controlling forces via external sensors, they are hampered by the need for fine-tuning task-specific controller parameters.
• Learning from Demonstrations (LfD) offers an intuitive alternative, allowing robots to learn manipulations through observed actions.