Abstract
In this paper, we studied a new method for robot programming: view-based teaching/playback. It can achieve more robustness against changes of task conditions, such as initial positions of the object, than conventional teaching/playback. We devised an algorithm to switch images used for the view-based teaching/playback adaptively between full-images and sub-images. In application to pushing tasks by an industrial manipulator, view-based teaching/playback with the algorithm succeeded even in the case of occlusion.
