Human-demonstration Based Approach to the Object Motion Design and the Recognition of Process State Transitions in Insertion of Deformable Tubes.

Hirai, S., & Noguchi, H. (1997). Human-demonstration Based Approach to the Object Motion Design and the Recognition of Process State Transitions in Insertion of Deformable Tubes. Journal of the Robotics Society of Japan, 15(8), 1172–1179. https://doi.org/10.7210/jrsj.15.1172