TY - GEN
T1 - Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates
AU - Nagatsu, Yuki
AU - Katsura, Seiichiro
PY - 2013
Y1 - 2013
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84879351980&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879351980&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2013.6519101
DO - 10.1109/ICMECH.2013.6519101
M3 - Conference contribution
AN - SCOPUS:84879351980
SN - 9781467313889
T3 - 2013 IEEE International Conference on Mechatronics, ICM 2013
SP - 546
EP - 551
BT - 2013 IEEE International Conference on Mechatronics, ICM 2013
T2 - 2013 IEEE International Conference on Mechatronics, ICM 2013
Y2 - 27 February 2013 through 1 March 2013
ER -