Modeling planar assembly paths from observation

This report describes a system for obtaining the compliant motion plan for a planar assembly task, given a sequence of observations of a human performing it. The compliant motion plan in configuration space is a series of connected path segments lying on the configuration space obstacle. We use the observed configurations of the assembled objects to selectively compute the features of the c-space obstacle on which the path lies. We project the observed configurations onto these features and reconstruct the path segments. The connected path segments form the model of the observed task and can be used to program a robot to repeat the task. We demonstrate the system using the planar peg in hole task.