TY - GEN
T1 - Grasping and manipulation control by visual information based on human motion imitation
AU - Suzuki, Hiroya
AU - Murakami, Toshiyuki
PY - 2011/12/1
Y1 - 2011/12/1
N2 - In the study of robotics, human motion imitation and learning is an active area of research. To learn motion from imitation, robots allow realistic movement without complex teaching and it's also thought that cooperation tasks between people and robots become easy. In those researches, image feedback is useful. Features of the image feedback by vision sensor are non-contact and possible to extract many environmental information. In this paper, I proposed control system which can concrete task with human motion imitation. We capture human motion by camera, and make robots imitate the motion. Grasping and manipulation are achieved by force control based on human motion. Specifically, this paper is focused on adjusting of unknown shaped objects and switching control system for contact and non-contact. With this in mind, proposed control system is evaluated by simulation.
AB - In the study of robotics, human motion imitation and learning is an active area of research. To learn motion from imitation, robots allow realistic movement without complex teaching and it's also thought that cooperation tasks between people and robots become easy. In those researches, image feedback is useful. Features of the image feedback by vision sensor are non-contact and possible to extract many environmental information. In this paper, I proposed control system which can concrete task with human motion imitation. We capture human motion by camera, and make robots imitate the motion. Grasping and manipulation are achieved by force control based on human motion. Specifically, this paper is focused on adjusting of unknown shaped objects and switching control system for contact and non-contact. With this in mind, proposed control system is evaluated by simulation.
KW - Compliance Control
KW - Grasping and manipulation control
KW - Human motion imitation
KW - Reaction torque observer (RTOB)
KW - Switching Control
KW - Visual information
UR - http://www.scopus.com/inward/record.url?scp=84863407815&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863407815&partnerID=8YFLogxK
U2 - 10.1109/IECON.2011.6120052
DO - 10.1109/IECON.2011.6120052
M3 - Conference contribution
AN - SCOPUS:84863407815
SN - 9781612849720
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4509
EP - 4514
BT - Proceedings
T2 - 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Y2 - 7 November 2011 through 10 November 2011
ER -