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However, it is still a difficult task to endow a robot with these skills, which largely is due to the complexity of the representation and planning of these skills. This paper presents a learning\u2010based approach of transferring force\u2010relevant skills from human demonstration to a robot. First, the force\u2010relevant skill is encapsulated as a statistical model where the key parameters are learned from the demonstrated data (motion, force). Second, based on the learned skill model, a task planner is devised which specifies the motion and\/or the force profile for a given manipulation task. Finally, the learned skill model is further integrated with an adaptive controller that offers task\u2010consistent force adaptation during online executions. The effectiveness of the proposed approach is validated with two experiments, i.e., an object polishing task and a peg\u2010in\u2010hole assembly.<\/jats:p>","DOI":"10.1155\/2019\/5262859","type":"journal-article","created":{"date-parts":[[2019,2,3]],"date-time":"2019-02-03T23:33:19Z","timestamp":1549236799000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":38,"title":["Learning Force\u2010Relevant Skills from Human Demonstration"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1495-4724","authenticated-orcid":false,"given":"Xiao","family":"Gao","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6786-0422","authenticated-orcid":false,"given":"Jie","family":"Ling","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8212-2452","authenticated-orcid":false,"given":"Xiaohui","family":"Xiao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2244-2104","authenticated-orcid":false,"given":"Miao","family":"Li","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2019,2,3]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140713"},{"key":"e_1_2_9_5_2","unstructured":"GuS. 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