失敗を含むティーチングからのロボット動作生成

抄録

This paper proposes a method for generating robot motions from teaching including failures. When the general public generates robot motions by teaching, it is assumed that failed trajectories will be repeated until the desired trajectory is obtained. As a result, trajectories containing failures will be generated. In this research, we try to establish a methodology to extract only the trajectories that can realize the desired task from the trajectories that contain failures. Based on the segmentation of actions and the assumption that the successful action is the last action before the action changed significantly, we generated trajectories consisting only of successful actions