PrograDlDling by DeInonstration using Hybrid DynaIllic SysteDl Modelling
نویسندگان
چکیده
This paper presents robot programming by demonstration using hybrid dynamic system modelling. A hybrid dynamic system has been identified as a good way to model tasks involving contacts and constrained motion. We propose a framework where mappings required within the hybrid dynamic system model are extracted from a demonstration. In this paper we concentrate on extracting a mapping for the Event Path Planner, which determines a good path plan for the task. The approach was implemented on an interesting assembly task involving insertion of a compressible spindle between two supports..
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