Task Skill Transfer Method Using a Bilateral Teleoperation

DOI Web Site 3 Citations 19 References
  • Yoon Woo-Keun
    National Institute of Advanced Industrial Science and Technology (AIST) , Intelligent Systems Rearch Institute
  • Suehiro Takashi
    National Institute of Advanced Industrial Science and Technology (AIST) , Planning Headquarters
  • Onda Hiromu
    National Institute of Advanced Industrial Science and Technology (AIST) , Intelligent Systems Rearch Institute
  • Kitagaki Kosei
    National Institute of Advanced Industrial Science and Technology (AIST) , Intelligent Systems Rearch Institute

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Other Title
  • バイラテラル遠隔操作を利用したタスクスキルトランスファー手法
  • バイラテラル エンカク ソウサ オ リヨウ シタ タスクスキルトランスファー シュホウ

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Abstract

In this paper, we propose a task skill transfer method using a bilateral teleoperation system. A target area of the task skill is a practical and a dexterous task that is performed by a manipulator. The task skill is implemented by an impedance control. In our method, an operator executes a task under a bilateral teleoperation. He/she finds a suitable motion strategy for a robot. Then, a task skill is written by the suitable motion strategy of the task and the teleoperation results. A knock of a task realization is generally described qualitatively information by a person. However, the knock can be described quantitatively information (teleoperation result) by our method. Furthermore, we discovered that unconsciousness movement of a person became an important element of a knock of a task realization. To demonstrate our task skill transfer method, we choose a lever handle valve manipulation task. This demonstration shows that a task skill of a lever handle valve manipulation is able to be programmed easily, needs no kinematics models of the task, has a robustness of positional errors and has a performance ability and time as the same as the operator.

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