Task skill transfer method using a bilateral teleoperation

In this paper, we propose a task skill transfer method using a bilateral teleoperation. We assume that a task skill for a complicated motion is described by the suitable trajectory of the impedance center. Thus, a important point is how to get the suitable trajectory of the impedance center. In our method, the suitable trajectory is got from results of bilateral teleoperation. In the bilateral teleoperation, an operator constructs a motion procedure able to execute the task. The suitable trajectory of the impedance center is calculated from the position and the force data in the teleoperation experiment. A basic element of the task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by values of both sensor and tip position. The task skill motion is described by a hybrid impedance/force control. To demonstrate how to use of our method, we choose the nut attachment task as an example