Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control

TL;DR

This paper introduces Motion ReTouch, a novel method that retroactively modifies motion data, including position and force, obtained via four-channel bilateral control, enhancing robot task performance.

Contribution

It presents a new approach combining multilateral control and motion-copying to modify both position and force data in robot motion.

Findings

Improved success rate in robot test tube transfer tasks

Demonstrated effective modification of force information

Validated method with real robot experiments

Abstract

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.