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2017 | OriginalPaper | Chapter

View-Based Teaching/Playback with Photoelasticity for Force-Control Tasks

Authors : Yoshinori Nakagawa, Soichi Ishii, Yusuke Maeda

Published in: Intelligent Autonomous Systems 14

Publisher: Springer International Publishing

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Abstract

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 accommodate itself to changes of task conditions. However, our previous view-based teaching/playback cannot perform force-control tasks; for example, it cannot deal with pressing objects against walls, in which view of images does not change. In this paper, we extend the view-based teaching/playback so that it is applicable to force-control tasks using photoelasticity. In the experiment, the extended view-based teaching/playback succeeded in wall-pressing tasks.

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previous chapter Self-improving Robot Action Management System with Probabilistic Graphical Model Based on Task Related Memories
next chapter Discovering the Relationship Between the Morphology and the Internal Model in a Robot System by Means of Neural Networks
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Metadata
Title
View-Based Teaching/Playback with Photoelasticity for Force-Control Tasks
Authors
Yoshinori Nakagawa
Soichi Ishii
Yusuke Maeda
Copyright Year
2017
Book
Intelligent Autonomous Systems 14

Print ISBN: 978-3-319-48035-0

Electronic ISBN: 978-3-319-48036-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-48036-7_60

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