Teaching by demonstration of assembly motion in VR-detection of nondeterministic search-type motion and developing of its skillful motion primitive

"Teaching by demonstration" is a method of generating a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a "teaching by demonstration in VR" system that automatically generates a robot program to work in the real world after a task is demonstrated by an operator in the virtual world. This system generates a program that detects each contact state extracted from demonstration in VR and produces it by skillful motion primitives. In this paper, based on our observation that a human has the skill wherein contact state transitions are made nondeterministically, we propose a method of dealing with one of the important nondeterministic motions, "nondeterministic search type motion." Experimental results show the feasibility of the method.