The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental impedance to generate highly adaptable actions. This method recalculates the command values for the position and force based on the current impedance to improve reproducibility in different environments. Experiments conducted under conditions of extreme action impedance, such as position and force control, confirmed the superiority of the proposed method over existing motion reproduction system. The advantages of this method include the use of only two sets of motion data, significantly reducing the burden of data acquisition compared with machine-learning based methods, and eliminating concerns about stability by using existing stable control systems. This study contributes to improving the environmental adaptability of robots while simplifying the action generation method.
View on arXiv@article{kitamura2025_2412.15430,
title={ An Environment-Adaptive Position/Force Control Based on Physical Property Estimation },
author={ Tomoya Kitamura and Yuki Saito and Hiroshi Asai and Kouhei Ohnishi },
journal={arXiv preprint arXiv:2412.15430},
year={ 2025 }
}