Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates

Yuki Nagatsu; Seiichiro Katsura

doi:10.1109/ICMECH.2013.6519101

Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates

Yuki Nagatsu, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper proposes a motion reproducing system for human pinching and rotational tasks in the two dimension. By using coordinate transformation to polar coordinates from Cartesian coordinates of grasping motion, internal force control and attitude control motions are able to reproduce independently. Proposed method makes it possible to reproduce human pinching and rotational motions even if the size of target objects are different compared to motion saving phase. In the experiments, results demonstrate that conventional method to deal with the difference about the size of objects cannot reproduce the motions concern pinching motions and validity of the proposed method is confirmed.

Original language	English
Title of host publication	2013 IEEE International Conference on Mechatronics, ICM 2013
Pages	546-551
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2013.6519101
Publication status	Published - 2013
Event	2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy Duration: 2013 Feb 27 → 2013 Mar 1

Publication series

Name	2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other	2013 IEEE International Conference on Mechatronics, ICM 2013
Country/Territory	Italy
City	Vicenza
Period	13/2/27 → 13/3/1

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2013.6519101

Cite this

Nagatsu, Y., & Katsura, S. (2013). Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 546-551). Article 6519101 (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519101

Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates. / Nagatsu, Yuki; Katsura, Seiichiro.
2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 546-551 6519101 (2013 IEEE International Conference on Mechatronics, ICM 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagatsu, Y & Katsura, S 2013, Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519101, 2013 IEEE International Conference on Mechatronics, ICM 2013, pp. 546-551, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519101

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AB - This paper proposes a motion reproducing system for human pinching and rotational tasks in the two dimension. By using coordinate transformation to polar coordinates from Cartesian coordinates of grasping motion, internal force control and attitude control motions are able to reproduce independently. Proposed method makes it possible to reproduce human pinching and rotational motions even if the size of target objects are different compared to motion saving phase. In the experiments, results demonstrate that conventional method to deal with the difference about the size of objects cannot reproduce the motions concern pinching motions and validity of the proposed method is confirmed.

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Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates

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