TY - GEN
T1 - Realization of storage and reproduction of water pouring task based on controlled variable of task
AU - Hiramatsu, Daisuke
AU - Shimono, Tomoyuki
AU - Kawamura, Atsuo
AU - Nozaki, Takahiro
AU - Asano, Yosuke
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that in storing phase, storage and reproduction of a task based on the controlled variable of a task is proposed. To verify the principle of this proposal, the water pouring task is considered. The proposed method can reproduce the water pouring task even if the initial weight of the water in the bottle differs from that in storing phase. The validity of the proposal is confirmed by experiments using one degree-of-freedom robots.
AB - Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that in storing phase, storage and reproduction of a task based on the controlled variable of a task is proposed. To verify the principle of this proposal, the water pouring task is considered. The proposed method can reproduce the water pouring task even if the initial weight of the water in the bottle differs from that in storing phase. The validity of the proposal is confirmed by experiments using one degree-of-freedom robots.
UR - http://www.scopus.com/inward/record.url?scp=84973129544&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973129544&partnerID=8YFLogxK
U2 - 10.1109/IECON.2015.7392758
DO - 10.1109/IECON.2015.7392758
M3 - Conference contribution
AN - SCOPUS:84973129544
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 4223
EP - 4228
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -