Before revision:  The approach is applied to a peg-in-hole insertion task using a 7-axis Franka Emika Panda robot , where ergodic exploration allows the task to be achieved without requiring the use of force/torque sensors.
After revision:  The approach is applied to a peg-in-hole insertion task requiring full 6D end-effector poses, implemented with a 7-axis Franka Emika Panda robot , where ergodic exploration allows the task to be achieved without requiring the use of force/torque sensors.