The generation of robot motions in the real world is difficult by using conventional controllersalone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However, the main issue has been improvements of the adaptability to spatially varying environments, but a variation of the operating speed has not been investigated in detail. In contact-rich tasks, it is especially important to be able to adjust the operating speed because a nonlinear relationship occurs between the operating speed and force (e.g., inertial and frictional forces), and it affects the results of the tasks. Therefore, in this study, we propose a method for generating variable operating speeds while adapting to spatial perturbations in the environment. The proposed method can be adapted to nonlinearities by utilizing a small amount of motion data. We experimentally evaluated the proposed method by erasing a line using an eraser fixed to the tip of the robot as an example of a contact-rich task. Furthermore, the proposed method enables a robot to perform a task faster than a human operator and is capable of operating close to the control bandwidth.
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