Teaching compliant motion strategies

A description is given of a robot teaching system for compliant motion strategies, based on recent research in compliant motion planning. The teaching system accepts robot motion commands from a user, and attempts to build a compliant motion strategy from the specified motions. The teaching system has several advantages over previous robot teaching systems. The user is spared many low-level details, such as the specification of conditional tests, compliance parameters, and motion termination conditions. A compliant motion strategy, if found, is guaranteed to work despite uncertainty in the starting configuration of the robot and in robot sensing and control