TY - GEN
T1 - Velocity based motion-copying system for grasping/manipulation motion reproduction
AU - Yajima, Shunsuke
AU - Katsura, Seiichiro
PY - 2011/12/1
Y1 - 2011/12/1
N2 - This paper proposes a velocity based motion-copying system for grasping/manipulation motion reproduction. The motion-copying system is able to store and reproduce human motion based on the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. In this paper, the motion-copying system is applied to grasping/manipulation motion reproduction. However, by the conventional method, it is difficult to reproduce the saved motion precisely when a diameter of a grasping object in the motion-loading phase is different from that in the motion-saving phase. On the other hand, the proposed method is able to reproduce the saved motion according to the configuration of the object, therefore the diameter of the object needs not to be considered. Performance of the proposed method is compared with the conventional method by simulations, and validity is verified.
AB - This paper proposes a velocity based motion-copying system for grasping/manipulation motion reproduction. The motion-copying system is able to store and reproduce human motion based on the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. In this paper, the motion-copying system is applied to grasping/manipulation motion reproduction. However, by the conventional method, it is difficult to reproduce the saved motion precisely when a diameter of a grasping object in the motion-loading phase is different from that in the motion-saving phase. On the other hand, the proposed method is able to reproduce the saved motion according to the configuration of the object, therefore the diameter of the object needs not to be considered. Performance of the proposed method is compared with the conventional method by simulations, and validity is verified.
UR - http://www.scopus.com/inward/record.url?scp=84857516575&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84857516575&partnerID=8YFLogxK
U2 - 10.1109/SII.2011.6147502
DO - 10.1109/SII.2011.6147502
M3 - Conference contribution
AN - SCOPUS:84857516575
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 515
EP - 520
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -