High-Stiff Motion Reproduction Using Position-Based Motion-Copying System with Acceleration-Based Bilateral Control

This paper presents the advantages of a high-stiff motion-reproduction system based on a motion-copying system using acceleration-based bilateral control and analyzes its performance. A motion-copying system has been proposed for saving and reproducing human motions. In previous studies on motion-copying systems, stored motion data could not be reproduced under the condition that a difference existed in the disturbance between the motion-saving phase and the motion-reproducing phase. To overcome these drawbacks, a high-stiff motion-reproduction system that is robust against such differences has been proposed. In this study, comparative analyses of motion-reproduction systems are conducted by deriving the transfer functions of the motion-reproducing phase, and the superiority of the proposed method to other motion-reproduction systems (conventional motion-copying and position control systems) is shown. Finally, the validity and performance of the proposed method are verified through the experimental results. The proposed method should contribute to the advancement of motion-copying systems toward industrial applications.