抄録
We are developing a robot system for powerdistribution line maintenance which moves with task instructions, for example "Insert the bolt". This paper shows the task instruction sheet for "Insert the bolt into the hole on the arm tie" and proposes a new task skill for inserting the bolt. In the proposed skill, the arm gropes the bolt near the hole along a spiral pattern to decrease the force in the axial direction (z direction) of the bolt, and then move the bolt to the axial direction and escape the hole edge by detecting the forces in the x, y directions.
