National Institute of Advanced Industrial Science and Technology (AIST) This page is a page of the former research institute. We stopped updating on March 31.2001.
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2. Studies on Robotic Skills

ＣＡＤＥ概念

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2. Studies on Robotic Skills
　　Robotic skills are studied through two complementary approaches; computer-aided skill discovery using human capability, and mathematical analysis and design of robotic skills utilizing system structures.
　　A computer-aided discovery environment (CADE) for motor skills in the robotics domain has been developed. CADE is composed of representation, search, and analysis modules. It helps to support human operators in discovering unknown robot motions required for novel robotic tasks.
　　Control methods using nonlinear characteristics of robot dynamics are being studied. A position control method, based on the nonlinear control theory, is being developed for an underactuated arm which has a free joint without an actuator.

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