主成分分析を用いた力の座標変換に基づくPeg-in-Holeタスクの接触状態推定

抄録

Learning from Demonstration, in which robots are taught based on human demonstrations, requires techniques for partitioning complex tasks into simple skills. In assembly tasks, contact state is an important feature that describes skills, but it is affected by variations in the measurement coordinate system and trials. In this paper, we propose a contact state estimation method based on principal component analysis and force coordinate transformation. Features of assembly operations are extracted by principal component analysis of position information and coordinate transformation of force information. By using the extracted features, environment-independent contact state estimation is possible.