Control modes: Learned Force Feedback Control After Teleoperated Demonstrations
Precision insertion - Research demonstration - Inserted a peg into a close-clearance hole with MotoFit force feedback and a learned control policy. - environment: Laboratory peg-in-hole fixture - Hardware: MotoFit six-axis force sensor; YRC1000 controller; Space mouse for expert demonstrations - Software: GAIL policy; MotoPlus C program; PC neural-network controller - Control: Learned force-feedback control after teleoperated demonstrations - source: arxiv.org