Design of hybrid controller for assembly task based on evaluation with HMM

This paper presents a new design methodology for a hybrid controller in skill control problem. The proposed method is based on the performance evaluation with HMM. Our hybrid controller switches an impedance parameter, which is designed by mean: of referring the human demonstration, according to the task state (contact configuration). An event observer, which detects a change of state, plays an essential role in our hybrid controller. The performance of the event observer is evaluated by comparing the difference between the working data generated by human worker and the robot controlled by the hybrid controller involving the designed event observer. The difference is measured based on HMM distance. Some experimental results as for a connector insertion task are shown to verify the usefulness of the proposed method.