TY - GEN
T1 - Online Motion Modification by Operator in Motion Reproduction System
AU - Sun, Xiaobai
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/18
Y1 - 2020/10/18
N2 - This paper proposes a novel online motion modification method in motion reproduction system. Motion reproduction is used to reproduce human motion saved through bilateral control. Bilateral control is a teleoperation which can transmit both position and force. Human judgement is needed for compensating the saved motion when the environment is different. However, conventional motion reproduction system only relies on saved motion or environment in slave side. Therefore operators in master side cannot modify the motion after motion has been saved. Instead of just reproducing the motion data, the proposed method adds master system at motion reproduction phase so that an operator can modify the motion. If the master system is simply added to motion reproduction system, the operator's motion and saved motion will interfere each other. Therefore, we propose to use weightings to suppress the interference. Simulated results validates the effectiveness of the proposal.
AB - This paper proposes a novel online motion modification method in motion reproduction system. Motion reproduction is used to reproduce human motion saved through bilateral control. Bilateral control is a teleoperation which can transmit both position and force. Human judgement is needed for compensating the saved motion when the environment is different. However, conventional motion reproduction system only relies on saved motion or environment in slave side. Therefore operators in master side cannot modify the motion after motion has been saved. Instead of just reproducing the motion data, the proposed method adds master system at motion reproduction phase so that an operator can modify the motion. If the master system is simply added to motion reproduction system, the operator's motion and saved motion will interfere each other. Therefore, we propose to use weightings to suppress the interference. Simulated results validates the effectiveness of the proposal.
KW - Bilateral Control
KW - Human-Robot Interaction
KW - Motion Control
KW - Motion Reproduction
UR - http://www.scopus.com/inward/record.url?scp=85097793620&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85097793620&partnerID=8YFLogxK
U2 - 10.1109/IECON43393.2020.9254628
DO - 10.1109/IECON43393.2020.9254628
M3 - Conference contribution
AN - SCOPUS:85097793620
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 668
EP - 673
BT - Proceedings - IECON 2020
PB - IEEE Computer Society
T2 - 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Y2 - 19 October 2020 through 21 October 2020
ER -