抄録
A human-demonstration based approach to the object motion design and the recognition of process state transitions in the insertion of a deformable tube is presented. First, human demonstration during the insertion of a deformable hose into a rigid plug is measured by use of a position sensor and a force sensor. Secondly, the measurements are analyzed with regard to the process states during the insertion. Human motion and recognition laws to detect process state transitions from force sensation are then extracted through the analysis of human demonstration. Finally, human motion during the insertion is transplanted to a mechanical manipulator to examine whether the human recognition laws are useful or not for the insertion performed by a mechanical manipulator.
