Development of Reusable Robotic Skills for Practical Tasks

本研究的目的是建立一种可在各种机器人上重复使用的机器人任务技能开发方法。当任务技能在机器人上重复使用时，与用于技能开发的机器人不同，必须调整力控制参数以保持稳定性。由于改变参数会影响机器人的行为，因此需要一种确保技能可重用性的方法。本研究提出了一种确定技能参数以保证可重用性的方法。此外，还研究了如何设计稳定接触任务的力控制参数。

The aim of this research is to establish a methodology of developing robotic task skills reusable on various robots. When a task skill is reused on a robot, which is different from the robot used for development of the skill, force control parameters have to be adjusted for stability. Since changing the parameters affects the behavior of the robot, a methodology of ensuring reusability of the skill is required. This research has developed a method of determining skill parameters to guarantee the reusability. In addition, how to design the force control parameters for stable contact tasks is also developed.