Imitation Learning and Generation of Motion Based on Transformer Model Using Force-based Two-channel Bilateral Control

This study proposes a method for generating motion commands by imitation learning and prediction based on a transformer model using a force-based two-channel bilateral control system. This study aims to demonstrate that imitation learning and generation of motion are possible using two-channel bilateral control, which transmits force information only. The proposed method can realize imitation learning and motion generation using only force information without using position (trajectory) information. The experimental results show that the force information predicted by the transformer model can generate motion using the two-channel bilateral control-based control structure.