Development of Reusable Robotic Skills for Practical Tasks

这项研究的目的是建立一种开发可在各种机器人上重复使用的机器人任务技能的方法。当任务技能在机器人上重复使用时，与用于开发该技能的机器人不同，力控制参数必须进行调整以确保稳定性。由于改变参数会影响机器人的行为，因此需要一种方法来确保技能的可重用性。本研究提出了一种确定技能参数的方法，以保证系统的可重用性。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.