Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866917940359593984 |
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| author | Inami, Koki Sakaino, Sho Tsuji, Toshiaki |
| author_facet | Inami, Koki Sakaino, Sho Tsuji, Toshiaki |
| contents | Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective. However, control performance that can easily execute high-speed, complex tasks in one go has not yet been achieved. We propose a method called Motion ReTouch, which retroactively modifies motion data obtained using four-channel bilateral control. The proposed method enables modification of not only position but also force information. This was achieved by the combination of multilateral control and motion-copying system. The proposed method was verified in experiments with a real robot, and the success rate of the test tube transfer task was improved, demonstrating the possibility of modification force information. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_20982 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control Inami, Koki Sakaino, Sho Tsuji, Toshiaki Robotics Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective. However, control performance that can easily execute high-speed, complex tasks in one go has not yet been achieved. We propose a method called Motion ReTouch, which retroactively modifies motion data obtained using four-channel bilateral control. The proposed method enables modification of not only position but also force information. This was achieved by the combination of multilateral control and motion-copying system. The proposed method was verified in experiments with a real robot, and the success rate of the test tube transfer task was improved, demonstrating the possibility of modification force information. |
| title | Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2502.20982 |