Implementation of the human skill based on hybrid architecture

Impedance control has been widely used in various manufacturing processes. In the impedance control framework, it is a very important and difficult problem of how to decide impedance parameters to realize the prescribed desired task. Since there are large similarities between impedance control and human fingertips control, one promising technique to overcome this problem is extracting the impedance parameters from human demonstration, and implementing them on the robot controller. However, if there exist disturbances and/or noise at the playback stage, which are not taken into account at the skill acquisition stage, the executed task by robot is far different from the human demonstration. In order to realize the robust skill, the authors introduce the hybrid architecture. This architecture enables robots to use the most suitable dynamics (impedance parameters) for each task situation. Moreover, because of event driven architecture, one can expect the improvement of robustness of the skill in the time domain.