Peg-hole-insertion is a common operation in industry production, but autonomous execution by robots has been a big challenge for many years. Current robot programming for this kind of contact problem requires tremendous effort, which needs delicate trajectory and force tuning. However, human may accomplish this task with much less time and fewer trials. It will be a great benefit if robots can learn the human skill and apply it autonomously. This paper introduces a framework for teaching robot peg-hole-insertion from human demonstration. A Dimension Reduction and Recovery method is proposed to simplify control policy learning. The Gaussian Mixture Regression is utilized to imitate human skill and a Dual Stage Force Control strategy is designed for autonomous execution by robots. The effectiveness of the teaching framework is demonstrated by a series of experiments.

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