Quick Setup of Force-Controlled Industrial Gluing Tasks Using Learning From Demonstration.

Although the sample size is not large enough to achieve statistical significance, the results show a clear trend that users achieve lower distances from the reference in a shorter amount of time when using our adaptive admittance controller compared to when using Freedrive. 5.1.3 Surface Normal Estimator We evaluated the surface normal estimator on a separate curved surface based on an eigenfunction of the L-shaped membrane, as shown in Figure 8 .

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