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

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

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 perform force-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.

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Acknowledgements

This work was supported by JSPS KAKENHI Grant Number JP24560286 and JP15K05890.

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Authors and Affiliations

  1. Division of Systems Integration, Graduate School of Engineering, Yokohama National University Kanagawa, Yokohama, Japan

    Yoshinori Nakagawa & Soichi Ishii

  2. Division of Systems Research, Faculty of Engineering, Yokohama National University Kanagawa, Yokohama, Japan

    Yusuke Maeda

Authors
  1. Yoshinori Nakagawa
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  2. Soichi Ishii
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  3. Yusuke Maeda
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Corresponding author

Correspondence to Yoshinori Nakagawa .

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Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Nakagawa, Y., Ishii, S., Maeda, Y. (2017). View-Based Teaching/Playback with Photoelasticity for Force-Control Tasks. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_60

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_60

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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