TY - GEN
T1 - Motion reproduction using time-scaling for adaptation to difference in environmental location
AU - Nozaki, Takahiro
AU - Mizoguchi, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/9
Y1 - 2014/9/9
N2 - This paper addresses methods to recreate humanlike motions involving direct contact with objects in robots. Motion reproduction systems using motion information extracted by bilateral teleoperation have been developed. However, conventional systems lack adaptability to difference in environmental location. The objective of this research is realization of a system, which can accommodate to the difference in environmental location. The proposed method uses position offset and time-scaling techniques. The offset value and the time-scaling ratio vary according to the difference between the extracted and current force information in real-time. The validity of the proposed method is verified by comparative experiments. The proposed method accomplishes to accurate reproduction of the stored motion. This proposed method shows the usefulness especially in duration of the contact state and amplitude of the force.
AB - This paper addresses methods to recreate humanlike motions involving direct contact with objects in robots. Motion reproduction systems using motion information extracted by bilateral teleoperation have been developed. However, conventional systems lack adaptability to difference in environmental location. The objective of this research is realization of a system, which can accommodate to the difference in environmental location. The proposed method uses position offset and time-scaling techniques. The offset value and the time-scaling ratio vary according to the difference between the extracted and current force information in real-time. The validity of the proposed method is verified by comparative experiments. The proposed method accomplishes to accurate reproduction of the stored motion. This proposed method shows the usefulness especially in duration of the contact state and amplitude of the force.
KW - Bilateral control
KW - haptics
KW - motion control
KW - motion-copying system
KW - time-scaling
UR - http://www.scopus.com/inward/record.url?scp=84907763844&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907763844&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2014.6894970
DO - 10.1109/ICIT.2014.6894970
M3 - Conference contribution
AN - SCOPUS:84907763844
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 45
EP - 50
BT - Proceedings of the IEEE International Conference on Industrial Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Industrial Technology, ICIT 2014
Y2 - 26 February 2014 through 1 March 2014
ER -