This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind\nof assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed\nframework is a combination of human movements to determine the overall assembly strategy and an optimizationbased\nmotion planner to generate the robot trajectories. The motion of the human�s hands, more specifically, the\nmotion of the fingers gripping the object is captured by a Leap Motion Controller. Then, key points in the recorded\ntrajectory of the position and orientation of the human�s fingers are extracted. These points are used as partial goals\nin the optimization-based motion planner that generates the robot arms� trajectories which minimize the object�s\ndeformation. Through experimental results it was verified the validity of the extracted key points from the human�s\nmovements that enable the robot to successfully assemble ring-shaped elastic objects. We compared these results\nwith the assembly done by purely repeating all of the human�s hands movements.
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