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

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ546-551
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2月 272013 3月 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
国/地域Italy
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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