Design method for motion reproduction system including time scaling based on robot dynamics

Hiroaki Kuwahara, Kouhei Ohnishi, Noboru Tsunashima, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The robotic technology which can save and reconstruct complicate and dexterous motion of human is required to solve skill preservation and skill transfer problems. A motion copying system is a candidate of the robotic technology. The motion copying system is composed of a motion saving system and a motion loading system. By using the motion saving system, human motion can be saved as haptic information. The motion loading system reconstructs the saved haptic data in chronological order. By using the motion loading system, spacelike pattern (trajectory) and timelike pattern (time cycle) of the saved motion can be reconstructed. When the reproduction speed of the loading system can be changed arbitrarily, the working efficiency can be improved. Therefore, in this paper, the motion reproduction system including the time scaling is proposed. The time scaling is defined as expansion and reduction of the motion timelike pattern. The proposed reproduction system enables to change the timelike pattern arbitrarily while the spacelike pattern is unchanged. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages483-488
Number of pages6
DOIs
Publication statusPublished - 2010
EventIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile
Duration: 2010 Mar 142010 Mar 17

Other

OtherIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
CountryChile
CityVina del Mar
Period10/3/1410/3/17

Fingerprint

Robots
Copying
Robotics
Trajectories
Experiments

Keywords

  • Haptic information
  • Haptics
  • Motion copying system
  • Skill transfer
  • Time scaling

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Kuwahara, H., Ohnishi, K., Tsunashima, N., & Katsura, S. (2010). Design method for motion reproduction system including time scaling based on robot dynamics. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 483-488). [5472754] https://doi.org/10.1109/ICIT.2010.5472754

Design method for motion reproduction system including time scaling based on robot dynamics. / Kuwahara, Hiroaki; Ohnishi, Kouhei; Tsunashima, Noboru; Katsura, Seiichiro.

Proceedings of the IEEE International Conference on Industrial Technology. 2010. p. 483-488 5472754.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kuwahara, H, Ohnishi, K, Tsunashima, N & Katsura, S 2010, Design method for motion reproduction system including time scaling based on robot dynamics. in Proceedings of the IEEE International Conference on Industrial Technology., 5472754, pp. 483-488, IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010, Vina del Mar, Chile, 10/3/14. https://doi.org/10.1109/ICIT.2010.5472754
Kuwahara H, Ohnishi K, Tsunashima N, Katsura S. Design method for motion reproduction system including time scaling based on robot dynamics. In Proceedings of the IEEE International Conference on Industrial Technology. 2010. p. 483-488. 5472754 https://doi.org/10.1109/ICIT.2010.5472754
Kuwahara, Hiroaki ; Ohnishi, Kouhei ; Tsunashima, Noboru ; Katsura, Seiichiro. / Design method for motion reproduction system including time scaling based on robot dynamics. Proceedings of the IEEE International Conference on Industrial Technology. 2010. pp. 483-488
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