光弾性を用いた力情報可視化に基づくビューベースト教示再生

— 倣い作業への適用 —

抄録

We study a novel robot programming method that uses the view-based approach: “view-based teaching/playback.” This method directly uses images for robot programming and can adapt to changes of task conditions. In our previous work, it was successfully applied to simple force control tasks, wall-pushing, by visualizing force information with the photoelasticity. In this paper, we applied the view-based teaching/playback with photoelasticity to a more complex force-control task: wall-tracking. We used a robot finger equipped with a photoelastic fingertip and a grayscale camera with a polarized filter. In the experiment, successful wall-tracking was demonstrated in a target position that was different from those in teaching.