Task skill transfer of nut attachment task

This paper describes how to construct a task skill of nut attachment. An operator constructs a teleoperation procedure able to execute this task using a bilateral teleoperation system. A motion process of the nut attachment task skill is defined from the teleoperation procedure. Each motion of 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 values of both sensor and tip position. The task skill motion is described by a hybrid control composed of impedance and force controls. The necessary parameters of the task skill can be obtained from the result of teleoperation experiment. Our experiment which is executed by several sizes of the nut shows the effectiveness and robustness of the nut attachment task skill