Action transfer device, action transfer method, and non-transitory computer-readable medium storing action transfer program

An action transfer method comprising:

• acquiring first action information including data indicative of a plurality of actions of a transfer source robot;
• acquiring second action information including data indicative of a plurality of actions of a transfer destination robot;
• correcting the first action information by using the second action information and in accordance with a predetermined update formula and thereby generating third action information for transferring the actions of the transfer source robot to the transfer destination robot, wherein the number of pieces of data included in the second action information is smaller than the number of pieces of data included in the first action information, and the first to third action information includes a set of data indicative of one or more robot joint values and a set of data indicative of a coordinate value of a robot specific part;
• retrieving the same joint value as a joint value included in the second action information from among the joint values included in the first action information;
• calculating an error between a coordinate value included in the first action information and corresponding to the retrieved joint value and a coordinate value included in the second action information;
• selecting a maximum error which is a maximum value from the calculated errors of the coordinate values;
• selecting a joint value included in the second action information and corresponding to the maximum error;
• and propagating the maximum error to each of the coordinate values included in the first action information by using the update formula including as a parameter an error between the joint values each corresponding to one of the coordinate values included in the first action information and a joint value corresponding to the maximum error and generating the third action information.

A non-transitory computer readable medium storing an action transfer program, the action transfer program causing a computer to execute:

• a process of acquiring first action information including data indicative of a plurality of actions of a transfer source robot;
• a process of acquiring second action information including data indicative of a plurality of actions of a transfer destination robot;
• and a process of correcting the first action information by using the second action information and in accordance with a predetermined update formula and thereby generating third action information for transferring the actions of the transfer source robot to the transfer destination robot, wherein the number of pieces of data included in the second action information is smaller than the number of pieces of data included in the first action information, and the first to third action information includes a set of data indicative of one or more robot joint values and a set of data indicative of a coordinate value of a robot specific part, and the process of generating the third action information includes:
• retrieving the same joint value as a joint value included in the second action information from among the joint values included in the first action information;
• calculating an error between a coordinate value included in the first action information and corresponding to the retrieved joint value and a coordinate value included in the second action information;
• selecting a maximum error which is a maximum value from the calculated errors of the coordinate values;
• selecting a joint value included in the second action information and corresponding to the maximum error;
• and propagating the maximum error to each of the coordinate values included in the first action information by using the update formula including as a parameter an error between the joint values each corresponding to one of the coordinate values included in the first action information and a joint value corresponding to the maximum error and generating the third action information.