Abstract
Cylinder insertion into an elastic hose accompanies with large and changing deformation. Precise analytical method is hard, in caIculation load, to deal with the large deformation A learning method needs large volume of teacher data and is limited to the field of the data. Authors propose a method where human understanding makes a qualitative model that meets with the phenomena of the objective job. Skill is expressed as a rule of motion that is functioned by sensor information. Based on the qualitative understamling model, the motion rule is designed with state variables of the model. Using some experiences, cylinder insertion skill of a walking type is modeled, and slip of the cylinder in the elastic hose is sensed. Operation based on the motion rule is designed as trajectories on the state variable space. The skill of walking type is succeeded for a few kinds of hoses.
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