Force-Based Robotic Imitation Learning: A Two-Phase Approach for Construction Assembly Tasks

Understand

The drive for efficiency and safety in construction has boosted the role of robotics and automation.

• However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which complicates robotic training.
• This paper proposes a two-phase system to improve robot learning, integrating human-derived force feedback.
• The first phase captures real-time data from operators using a robot arm linked with a virtual simulator via ROS-Sharp.