Yasuhiro Kato

Toshiaki Tsuji, Yasuhiro Kato

In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study focuses on the stability of compliance control in a robot arm that deals with an asymmetric stiffness matrix. It discusses the convergence stability of the admittance control. The paper explains how to derive an asymmetric stiffness matrix and how to incorporate it into the admittance model. The authors also present simulation and experimental results that demonstrate the effectiveness of their proposed method.

Toshiaki Tsuji, Yasuhiro Kato, Gokhan Solak et al.

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to their nonlinear dynamics and sensitivity to small positional deviations. The paper examines demonstration collection methodologies, including teaching methods and sensory modalities crucial for capturing subtle interaction dynamics. We then analyze imitation learning approaches, highlighting their applications to contact-rich manipulation. Recent advances in multimodal learning and foundation models have significantly enhanced performance in complex contact tasks across industrial, household, and healthcare domains. Through systematic organization of current research and identification of challenges, this survey provides a foundation for future advancements in contact-rich robotic manipulation.