A realization of motion copying system based on multilateral control

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticle

7 Citations (Scopus)


This paper proposes a motion copying system in order to reproduce motion of human operators. The motion copying system consists of both motion saving system and motion loading system based on multilateral controller. The motion saving system is realized by master systems and a slave system. The motion saving system saves motion of a slave system when human operator moves the master systems. At the same time, identity ratio is introduced to decouple the masters motions. The identity ratio of each master system is calculated by force of all master systems, and are saved to memory. On the contrary real-world master systems and a virtual-world slave system realize the motion loading system. The motion loading system reproduces the motion using saved motion data and value of the identity ratio. The paper confirms that the motion saving system and motion loading system based on multilateral controller is generalized. The reproduced position and force correspond to the saved ones by the proposed method.

Original languageEnglish
Pages (from-to)1140-1146
Number of pages7
Journalieej transactions on industry applications
Issue number9
Publication statusPublished - 2008 Dec 1



  • Acceleration control
  • Modal decomposition
  • Motion control
  • Motion copying system
  • Multilateral control
  • Real-world haptics

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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