Robot Command Upgrade by Integration of Position and Force Information from Multiple Motion Reproduction Results

Motion reproduction is a motion generation method in robotics characterized by the small amount of required data and its adaptability to environmental variations. However, completing the task is difficult when the environmental position variation is significant. Therefore, the proposed method generates motion data that is adaptive to environmental fluctuations by performing motion reproduction, with data integrating the position and velocity responses when motion reproduction is performed and the original force response. In simulations, it successfully made contact with the environment even when the distance to the environment was varied. In other words, the proposed method can create motions such that the task succeeded using the failed reproduction data.