Learning peg-in-hole actions with flexible objects

Leon Bodenhagen, Andreas R. Fugl, Morten Willatzen, Henrik G. Petersen, Norbert Krüger

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


This paper presents a method for learning Peg-In-Hole actions with flexible objects. To learn the actions we parametrize the entire trajectory by a single point and use Kernel Density Estimation to reflect the different variations of the action and the object characteristics. The object is characterized by its elastic behaviour rather than geometric properties. Thereby an action learned for one object can be transferred to a new object that behaves similarly although it might have different elastic properties, dimensions and geometries. To bootstrap the learning mechanism, the system performs simulated actions and utilizes the detailed information obtained from the simulation environment. Subsequently Peg-In-Hole actions are tested successfully on the real life setup.
Original languageEnglish
Title of host publication4th International Conference on Agents and Artificial Intelligence (ICAART) - Special Session for Intelligent Robotics(SSIR)
Number of pages8
Publication date2012
Publication statusPublished - 2012
Externally publishedYes
Event4th International Conference on Agents and Artificial Intelligence (ICAART 2012) - Vilamoura, Algarve, Portugal
Duration: 6 Feb 20128 Feb 2012


Conference4th International Conference on Agents and Artificial Intelligence (ICAART 2012)
CityVilamoura, Algarve
Internet address

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