3D Surface Wiping using Bilateral Control-Based Imitaiton Learning

Wiping the surface of an object with a robot is necessary to automate various tasks such as cleaning and polishing. However, it very difficult move contact points while maintaining appropriate force position control. It because response when varies greatly slight differences in positional relationship, affected by errors shape measurement robot's motion. To achieve this, control that directly handles necessary. In this study, we used bilateral control-based imitation learning learn wiping motions for several types bowls objects 3D curved shapes, verified their performance.