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Force control is one of the core modules for surface finishing such as grinding, polishing and sanding. However, the current force control methods based on human skills lack in-depth analysis of data patterns or are only applicable to flat surfaces. In addition, surface finishing is mainly performed by hand, resulting in low processing efficiency and poor product consistency. Therefore, this paper proposes a force control method that incorporates human skills to achieve relatively accurate force skill transfer and complex surface finishing. Firstly, human skills consisting of the force skill and the motion skill are learned. The force skill is used to generate the desired force. Then, a series of discrete poses are obtained based on human demonstration and combined with the motion skill to generate the desired trajectory. Finally, a computed-torque impedance control method is proposed to achieve relatively accurate force skill transfer and complex surface finishing by incorporating the desired trajectory and the desired force. The experiments are conducted on a platform composed of a 7-DOF collaborative robot manipulator from Franka Emika and a complex violin surface. The results demonstrate that the proposed force control method can achieve relatively accurate force skill transfer and improve the surface quality of the workpiece. [ABSTRACT FROM AUTHOR]

Humanoid robots have attracted much attention by virtue of their compatibility with human environments. However, biped humanoids with immense promise still cannot function steadily and reliably in real‐world settings in the current state. Hence, rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse scenarios. Here, a new versatile humanoid robot platform, aiming to provide a generic solution that can be flexibly deployed in diverse scenarios, for example, indoors and fields is presented. Versatile humanoid robot platform incorporates multimodal perception, and extensible interfaces on hardware and software, allowing it to be rapidly integrated with different mobile platforms and end‐effectors, only through easy‐to‐assemble interfaces. Additionally, the platform has achieved impressive integration, lightness, dexterity, and strength in its class, with human‐like size and rich perception, targeted to have human‐intelligent manipulation skills for human‐engineered environments. Overall, this article elaborates on the reasoning behind the design choices, and outlines each subsystem. Lastly, the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation, and human–robot collaboration requirements. [ABSTRACT FROM AUTHOR]