Abstract
In this paper, we improved our method of robot programming with view-based approach: view-based teaching playback. It was developed to achieve more robustness to changes of task conditions, such as variations in initial positions of the object, than conventional teaching playback. We applied this view-based teaching playback to pushing tasks by an industrial robot. After multiple teaching demonstrations, pushing an object to the goal position was successfully achieved from some initial positions that were not identical to those in the demonstrations, without object models or camera calibrations.
