バイラテラル制御に基づく模倣学習の多自由度ロボットアームへの拡張における各パラメータ

　　
Parameter Value
Kp1    Joint 1's Position feedback gain 256
Kp2    Joint 2's Position feedback gain 196
Kp3    Joint 3's Position feedback gain 625
Kp4    Joint 4's Position feedback gain 81
Kp5    Joint 5's Position feedback gain 256
Kp6    Joint 6's Position feedback gain 256
Kp7    Joint 7's Position feedback gain 100
Kd1    Joint 1's Velocity feedback gain 32.0
Kd2    Joint 2's Velocity feedback gain 28.0
Kd3    Joint 3's Velocity feedback gain 50.0
Kd4    Joint 4's Velocity feedback gain 18.0
Kd5    Joint 5's Velocity feedback gain 32.0
Kd6    Joint 6's Velocity feedback gain 32.0
Kd7    Joint 7's Velocity feedback gain 20.0
Kf1    Joint 1's Force feedback gain 0.50
Kf2    Joint 2's Force feedback gain 0.50
Kf3    Joint 3's Force feedback gain 1.00
Kf4    Joint 4's Force feedback gain 0.50
Kf5    Joint 5's Force feedback gain 0.85
Kf6    Joint 6's Force feedback gain 0.75
Kf7    Joint 7's Force feedback gain 0.75
g    Cut-off frequency of pseudo derivative [rad/sec] 10.0
gDOB    Cut-off frequency of DOB [rad/sec] 10.0
gRFOB    Cut-off frequency of RFOB [rad/sec] 10.0
J1    Joint 1's inertia [N・m] 0.0123
J2    Joint 2's inertia [N・m] 0.1130
J3    Joint 3's inertia [N・m] 0.0120
J4    Joint 4's inertia [N・m] 0.040
J5    Joint 5's inertia [N・m] 0.006
J6    Joint 6's inertia [N・m] 0.007
J7    Joint 7's inertia [N・m] 0.006

バイラテラル制御におけるリーダー・フォロワーは同一のパラメータを使用した。