Realization of storage and reproduction of water pouring task based on controlled variable of task

Daisuke Hiramatsu, Tomoyuki Shimono, Atsuo Kawamura, Takahiro Nozaki, Yosuke Asano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4223-4228
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Hiramatsu, D., Shimono, T., Kawamura, A., Nozaki, T., & Asano, Y. (2016). Realization of storage and reproduction of water pouring task based on controlled variable of task. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4223-4228). [7392758] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392758