Sensorimotor compliant motion from geometric perception

Most of the approaches proposed in the field of sensor based assembly use force and velocity, i.e., sensor signals representing dynamics, as a base on which a desired compliant motion strategy is specified. In contrast, especially while performing alignment and insertion tasks the problem of sensing the assembly state of two objects w.r.t. each other is of geometric nature. Using a generic sensorimotor skill model for compliant motion tasks we discuss the difference between dynamic and geometric perception. We propose approaches of kinesthetic and visual sensing and show the robustness of compliant motion skill maps obtained from sensor signals representing the task geometry rather than the task dynamics