TY - GEN
T1 - Robust motion-copying system using motion-data memory
AU - Matsui, Ayaka
AU - Miura, Kazumasa
AU - Katsura, Seiichiro
PY - 2013
Y1 - 2013
N2 - This paper proposes a robust motion-copying system using the motion-data memory. A motion-copying system has been proposed as the system of saving and reproducing the human motion. In the conventional method, the reproduced motion is different from the saved motion when an unexpected force inputs the system. Therefore, the conventional system may cause the destruction of the environment. To solve this problem, the robust motion-copying system is proposed. The proposed motion-copying system uses the saved force and position information in the master side and the force information in the slave side, although the conventional motion-copying system uses just the saved force and position information in the master side. Therefore, the proposed system divides the estimated force into the reaction force from the environment and an unexpected force by using the motiondata memory. Since these forces are compensated separately, the unexpected force does not affect the reproduced motion. As a result, the robust motion-copying system is realized. The validity of the proposed method is verified by the experiments.
AB - This paper proposes a robust motion-copying system using the motion-data memory. A motion-copying system has been proposed as the system of saving and reproducing the human motion. In the conventional method, the reproduced motion is different from the saved motion when an unexpected force inputs the system. Therefore, the conventional system may cause the destruction of the environment. To solve this problem, the robust motion-copying system is proposed. The proposed motion-copying system uses the saved force and position information in the master side and the force information in the slave side, although the conventional motion-copying system uses just the saved force and position information in the master side. Therefore, the proposed system divides the estimated force into the reaction force from the environment and an unexpected force by using the motiondata memory. Since these forces are compensated separately, the unexpected force does not affect the reproduced motion. As a result, the robust motion-copying system is realized. The validity of the proposed method is verified by the experiments.
UR - http://www.scopus.com/inward/record.url?scp=84881631645&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881631645&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2013.6563816
DO - 10.1109/ISIE.2013.6563816
M3 - Conference contribution
AN - SCOPUS:84881631645
SN - 9781467351942
T3 - IEEE International Symposium on Industrial Electronics
BT - 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
T2 - 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Y2 - 28 May 2013 through 31 May 2013
ER -