Motion generation for clutch assembly by integration of multiple existing policies

We propose a method for generating robot motions by integrating multiple policies effective for task achievement. The method obtains a new policy efficiently based on the applied policies. However, there might be some states in which the applied policies fail to achieve the task. The failing states are found by means of a decrease in the state values. The policies for the states are then modified. In this paper, we applied this method to clutch assembly in order to demonstrate its validity for assembly tasks. We integrated insertion motion and search motion for the task and finally obtained the effective motion that accords to the task states.