バイラテラル制御に基づく模倣学習による三次元曲面拭き動作の学習

抄録

Wiping the surface of an object with a robot is necessary to automate various tasks such as cleaning and polishing. However, it is very difficult to move contact points while maintaining the appropriate force with position control. It is because the force response when contact with the object varies greatly with slight differences in the positional relationship, it is greatly affected by errors in the shape measurement and positional errors in the robot's motion. To achieve this, force control that directly handles the force response is necessary. In this study, we used bilateral control-based imitation learning to learn wiping motions for several types of bowls as objects with various 3D curved surface shapes, and verified their performance.