Task skill transfer of 3-prong plug manipulation

This paper describes how to write a task skill program for a 3-prong plug manipulation. One of important features in this paper is that it is easy to program a hole search motion and so on. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. 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 the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the 3-prong plug manipulation. Some experiments shows an efficiency of the 3-prong plug manipulation task skill