Analysis of assembly skills for dry battery insertion based on force control parameters

In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on...

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Bibliographic Details
Main Authors: Yamanobe, N., Fujii, H., Arai, T.
Format: Conference Proceeding
Language:English
Subjects:
assembly
Assembly systems
Batteries
Error correction
Force control
hidden Markov model (HMM)
Hidden Markov models
human demonstration
Humans
Intelligent robots
Motion analysis
Robotic assembly
Service robots
skill analysis
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Summary:In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on a hidden Markov model (HMM). By analyzing the obtained HMM, basic motions necessary for achieving the task, such as search, pushing, rotation, and modifying motions, are derived. Then control policies to perform each motion are examined qualitatively.
DOI:10.1109/ROBIO.2009.4913002