操作教示に基づく補助必要度を考慮した食器類の濯ぎと擦り動作学習

抄録

Robots are expected to manipulate objects with safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely without splashing water and without dropping the dishes. In this study, we propose a safe and dexterous manipulation system. The robot acquires the manipulation dynamics of the object by estimating the state of the object and the robot itself, the control input, and the degree of human assistance required (assistance rate) after the human corrects the initial trajectory of the robot hands by interruptive direct teaching. By back-propagating the error between the estimated and the reference value using the acquired dynamics model, the robot can generate a control input that approaches the reference value, for example, so that human assistance is not required and the dish does not move excessively. This allows for adaptive rinsing and scrubbing of dishes with unknown shape and properties. As a result, it is possible to generate safe actions that require less human intervention.