To operate in a real-world environment, robots have several requirements including environmental adaptability. Moreover, the desired success rate for the completion of tasks must be achieved. In this regard, end-to-end learning for autonomous operation is currently being investigated. However, the issue of operating speed has not been investigated in detail. Therefore, in this paper, we propose a method for generating variable operating speeds while adapting to perturbations in the environment. When the work speed changes, there is a nonlinear relationship between the operating speed and force (e.g., inertial and frictional forces). However, the proposed method can be adapted to nonlinearities by utilizing small amount of motion data. We experimentally evaluated the proposed method for erasing a line using an eraser fixed to the tip of a robot. Furthermore, the proposed method enables a robot to perform a task faster than a human operator

翻译：在现实环境中操作,机器人有若干要求,包括环境适应性;此外,必须达到完成任务的预期成功率;在这方面,目前正在调查自主运行的端到端学习;然而,运行速度问题尚未详细调查,因此,在本文件中,我们提出一种方法,在适应环境扰动的同时产生可变操作速度。在工作速度变化时,操作速度和力量(例如惯性力和摩擦力)之间存在非线性关系。然而,提议的方法可以通过使用少量运动数据来适应非线性。我们试验性地评估了使用固定在机器人顶部的橡皮擦除线的拟议方法。此外,拟议的方法使机器人能够比人类操作者更快地执行一项任务。