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

被引：0
|
作者：
Nakagawa, Yoshinori [1 ]
Ishii, Soichi [1 ]
Maeda, Yusuke [2 ]
机构：
[1] Yokohama Natl Univ Kanagawa, Grad Sch Engn, Div Syst Integrat, Yokohama, Kanagawa, Japan
[2] Yokohama Natl Univ Kanagawa, Div Syst Res, Fac Engn, Yokohama, Kanagawa, Japan
来源：
INTELLIGENT AUTONOMOUS SYSTEMS 14 | 2017年 / 531卷
关键词：
Robot programming; View-based approach; Principal component analysis; Neural network; Photoelasticity; ROBOT;
D O I：
10.1007/978-3-319-48036-7_60
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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 performforce-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.
引用
收藏
页码：825 / 837
页数：13
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