Assistance for robot manipulation

A robot control method executable by a robot control system including at least one processor, the method comprising:

• acquiring an input command value indicating a manipulation of a robot by a subject user;
• acquiring a current state of the robot and a target state associated with the manipulation of the robot;
• determining a state difference between the current state and the target state;
• acquiring from a learned model, a degree of distribution associated with a motion of the robot, based on the state difference, wherein the learned model includes a first model generated based on a past manipulation by another user different from the subject user, and a second model generated based on a past manipulation by the subject user, and wherein the degree of distribution includes a first degree of distribution acquired from the first model and a second degree of distribution acquired from the second model;
• setting a level of assistance to be given during the manipulation of the robot by the subject user, based on the degree of distribution acquired, wherein the level of assistance includes a first level of assistance that is set based on the first degree of distribution, and a second level of assistance that is set based on the second degree of distribution;
• and
• generating an output command value for operating the robot, based on the input command value, the first level of assistance, and the second level of assistance.

A non-transitory computer-readable storage medium storing processor-executable instructions to:

• acquire an input command value indicating a manipulation of a robot by a subject user;
• acquire a current state of the robot and a target state associated with the manipulation of the robot;
• determine a state difference between the current state and the target state;
• acquire from a learned model, a degree of distribution associated with a motion of the robot, based on the state difference, wherein the learned model includes a first model generated based on a past manipulation by another user different from the subject user, the other user having a greater skill level in robot manipulation than the subject user, and a second model generated based on a past manipulation by the subject user, and wherein the degree of distribution includes a first degree of distribution acquired from the first model and a second degree of distribution acquired from the second model;
• set a level of assistance to be given during the manipulation of the robot by the subject user, based on the degree of distribution acquired, wherein the level of assistance includes a first level of assistance that is set based on the first degree of distribution, and a second level of assistance that is set based on the second degree of distribution;
• and
• generate an output command value for operating the robot, based on the input command value and the level of assistance.