TY - GEN
T1 - Design method for motion reproduction system including time scaling based on robot dynamics
AU - Kuwahara, Hiroaki
AU - Ohnishi, Kouhei
AU - Tsunashima, Noboru
AU - Katsura, Seiichiro
PY - 2010/7/14
Y1 - 2010/7/14
N2 - The robotic technology which can save and reconstruct complicate and dexterous motion of human is required to solve skill preservation and skill transfer problems. A motion copying system is a candidate of the robotic technology. The motion copying system is composed of a motion saving system and a motion loading system. By using the motion saving system, human motion can be saved as haptic information. The motion loading system reconstructs the saved haptic data in chronological order. By using the motion loading system, spacelike pattern (trajectory) and timelike pattern (time cycle) of the saved motion can be reconstructed. When the reproduction speed of the loading system can be changed arbitrarily, the working efficiency can be improved. Therefore, in this paper, the motion reproduction system including the time scaling is proposed. The time scaling is defined as expansion and reduction of the motion timelike pattern. The proposed reproduction system enables to change the timelike pattern arbitrarily while the spacelike pattern is unchanged. The validity of the proposed method is confirmed by experiments.
AB - The robotic technology which can save and reconstruct complicate and dexterous motion of human is required to solve skill preservation and skill transfer problems. A motion copying system is a candidate of the robotic technology. The motion copying system is composed of a motion saving system and a motion loading system. By using the motion saving system, human motion can be saved as haptic information. The motion loading system reconstructs the saved haptic data in chronological order. By using the motion loading system, spacelike pattern (trajectory) and timelike pattern (time cycle) of the saved motion can be reconstructed. When the reproduction speed of the loading system can be changed arbitrarily, the working efficiency can be improved. Therefore, in this paper, the motion reproduction system including the time scaling is proposed. The time scaling is defined as expansion and reduction of the motion timelike pattern. The proposed reproduction system enables to change the timelike pattern arbitrarily while the spacelike pattern is unchanged. The validity of the proposed method is confirmed by experiments.
KW - Haptic information
KW - Haptics
KW - Motion copying system
KW - Skill transfer
KW - Time scaling
UR - http://www.scopus.com/inward/record.url?scp=77954387950&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77954387950&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2010.5472754
DO - 10.1109/ICIT.2010.5472754
M3 - Conference contribution
AN - SCOPUS:77954387950
SN - 9781424456970
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 483
EP - 488
BT - Proceedings - ICIT 2010
T2 - IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Y2 - 14 March 2010 through 17 March 2010
ER -