人からの手づたえ教示によるロボットアームのその場動作修正法の開発

概要

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Future robotic systems intended to be used for domestic housekeeping or elderly care should flexibly adapt to the environment which is uncertain and may fluctuate. However, the current robot systems for industrial domain can operate only in the limited environment (well arranged and very little uncertainty) and require the special knowledge such as teaching-pendant and robot programming of the robot motion instructors. Obviously such requirements are not appropriate for home-use robots. This paper proposes a new method for in-situ robot motion modification by Hand-Guiding instruction. With the proposed method, a human demonstrator can intuitively modify the robot motion during its operation to adapt to environmental changes. Some daily domestic tasks are actually tried by using a lightweight pneumatic robot arm and the experimental results show the effectiveness of the proposed method.