TY - JOUR
T1 - Adjustable motion reproduction for transferring different objects using hybrid position/force control
AU - Tsunashima, Noboru
AU - Katsura, Seiichiro
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017
Y1 - 2017
N2 - This paper proposes a method for recording and reproducing of human motions with a different target object. A bilateral control is known as one of the effective methods to achieve recording and reproducing human motions based on both position and force information. However, it is known that robustness for a different environment is decreased by adding the force information to the recorded motion information. In this paper, we focus an application of "peg-in-hole", and our goal is to reproduce the recorded motion even if material of a target block is different. First, information of the actuators are transformed into motion-modal space to treat human motion as one system. Then, we propose a reproduction method which omits the effect of force information from a target object. In the focused application, the applied force during the target object and external environment is important. By the proposal, the contacting force is modified and force difference on the basis of material different is compensated. Validity of the proposal is verified by experiments. By the proposed method, the recorded motion is reproduced even if weight and friction of the target object is different.
AB - This paper proposes a method for recording and reproducing of human motions with a different target object. A bilateral control is known as one of the effective methods to achieve recording and reproducing human motions based on both position and force information. However, it is known that robustness for a different environment is decreased by adding the force information to the recorded motion information. In this paper, we focus an application of "peg-in-hole", and our goal is to reproduce the recorded motion even if material of a target block is different. First, information of the actuators are transformed into motion-modal space to treat human motion as one system. Then, we propose a reproduction method which omits the effect of force information from a target object. In the focused application, the applied force during the target object and external environment is important. By the proposal, the contacting force is modified and force difference on the basis of material different is compensated. Validity of the proposal is verified by experiments. By the proposed method, the recorded motion is reproduced even if weight and friction of the target object is different.
KW - Acceleration control
KW - Bilateral control
KW - Hybrid control
KW - Motion reproduction
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U2 - 10.2493/jjspe.83.870
DO - 10.2493/jjspe.83.870
M3 - Article
AN - SCOPUS:85028854262
SN - 0912-0289
VL - 83
SP - 870
EP - 877
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
IS - 9
ER -