通过四通道双向控制回溯修改运动数据，同时优化位置与力信息。
Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control
- 结合多通道控制与运动复制系统，实现动作数据的后置修正。
- 实机实验中试管搬运任务成功率提升，验证了力信息可调性。
- 适合需高精度力控的机器人操作场景，如精密装配。
近期研究证明，四通道双向控制在自主机器人操作中的教学应用具有有效性，该方法可获取位置与力的信息。然而，尚无法实现一次完成高速、复杂任务的控制性能。本文提出Motion ReTouch方法，对通过四通道双向控制获得的运动数据进行回溯式修改。该方法不仅能调整位置信息，还可修改力信息，其核心在于多通道控制与运动复制系统的结合。在真实机器人上的实验验证表明，该方法显著提升了试管搬运任务的成功率，证明了力信息修改的可行性。
原文摘要 · Abstract (English)
Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective. However, control performance that can easily execute high-speed, complex tasks in one go has not yet been achieved. We propose a method called Motion ReTouch, which retroactively modifies motion data obtained using four-channel bilateral control. The proposed method enables modification of not only position but also force information. This was achieved by the combination of multilateral control and motion-copying system. The proposed method was verified in experiments with a real robot, and the success rate of the test tube transfer task was improved, demonstrating the possibility of modification force information.
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