ロボットハンドによる対象物操りのための動作軌道生成法

抄録

In this study, we aim to overcome the problems of model-based control by teaching human behavior using a master-slave system. First, we construct a master-slave control system for an easy control design. Next, we propose a method to generate the robot trajectory from the motion trajectory obtained from the teaching data using the control system. The proposed method can derive spatiotemporally averaged motion trajectories even for multiple instruction data that contain spatiotemporal variations. The effectiveness of the proposed method will be experimentally confirmed.