Extraction of combined environmental information by bilateral control based on DFT modal control

Tomoyuki Shimono, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Future robots are expected to support human physically. The physical support by them should be based on the individual's sensation and action. This means the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the obtained environmental information to the individual in harmony with his or her sensation. Then, real world haptics will be a key technology for the realization of human support. There are two kinds of environmental information. One is the spatial information of environmental modes. The other is the temporal information of environmental impedance. Both spatial information and temporal information are so important for recognition of the unknown environment. Then, this paper proposes the extraction method of the combined environmental information based on real world haptic techniques. In the proposed method, the combined environmental information is extracted by bilateral motion control based on discrete Fourier transform (DFT) modal control. As a result, the environmental modes and the environmental impedance are able to be extracted simultaneously. In addition, the environmental impedance is able to be associated with each environmental mode based on DFT. Finally, the validity of the proposed method is verified by the experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages625-630
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Discrete Fourier transform
Discrete Fourier transforms
Robots
Motion control
Impedance
Haptics
Spatial Information
Robot
Unknown
Motion Control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Shimono, T., & Ohnishi, K. (2008). Extraction of combined environmental information by bilateral control based on DFT modal control. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 625-630). [4516139] https://doi.org/10.1109/AMC.2008.4516139

Extraction of combined environmental information by bilateral control based on DFT modal control. / Shimono, Tomoyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 625-630 4516139.

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

Shimono, T & Ohnishi, K 2008, Extraction of combined environmental information by bilateral control based on DFT modal control. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516139, pp. 625-630, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516139
Shimono T, Ohnishi K. Extraction of combined environmental information by bilateral control based on DFT modal control. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 625-630. 4516139 https://doi.org/10.1109/AMC.2008.4516139
Shimono, Tomoyuki ; Ohnishi, Kouhei. / Extraction of combined environmental information by bilateral control based on DFT modal control. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 625-630
@inproceedings{d17f6a3b479c4888878f495591aaa005,
title = "Extraction of combined environmental information by bilateral control based on DFT modal control",
abstract = "Future robots are expected to support human physically. The physical support by them should be based on the individual's sensation and action. This means the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the obtained environmental information to the individual in harmony with his or her sensation. Then, real world haptics will be a key technology for the realization of human support. There are two kinds of environmental information. One is the spatial information of environmental modes. The other is the temporal information of environmental impedance. Both spatial information and temporal information are so important for recognition of the unknown environment. Then, this paper proposes the extraction method of the combined environmental information based on real world haptic techniques. In the proposed method, the combined environmental information is extracted by bilateral motion control based on discrete Fourier transform (DFT) modal control. As a result, the environmental modes and the environmental impedance are able to be extracted simultaneously. In addition, the environmental impedance is able to be associated with each environmental mode based on DFT. Finally, the validity of the proposed method is verified by the experimental results.",
author = "Tomoyuki Shimono and Kouhei Ohnishi",
year = "2008",
doi = "10.1109/AMC.2008.4516139",
language = "English",
isbn = "9781424417032",
volume = "1",
pages = "625--630",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Extraction of combined environmental information by bilateral control based on DFT modal control

AU - Shimono, Tomoyuki

AU - Ohnishi, Kouhei

PY - 2008

Y1 - 2008

N2 - Future robots are expected to support human physically. The physical support by them should be based on the individual's sensation and action. This means the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the obtained environmental information to the individual in harmony with his or her sensation. Then, real world haptics will be a key technology for the realization of human support. There are two kinds of environmental information. One is the spatial information of environmental modes. The other is the temporal information of environmental impedance. Both spatial information and temporal information are so important for recognition of the unknown environment. Then, this paper proposes the extraction method of the combined environmental information based on real world haptic techniques. In the proposed method, the combined environmental information is extracted by bilateral motion control based on discrete Fourier transform (DFT) modal control. As a result, the environmental modes and the environmental impedance are able to be extracted simultaneously. In addition, the environmental impedance is able to be associated with each environmental mode based on DFT. Finally, the validity of the proposed method is verified by the experimental results.

AB - Future robots are expected to support human physically. The physical support by them should be based on the individual's sensation and action. This means the robots must actively recognize the unknown environment according to the individual's action. They also have to transmit the obtained environmental information to the individual in harmony with his or her sensation. Then, real world haptics will be a key technology for the realization of human support. There are two kinds of environmental information. One is the spatial information of environmental modes. The other is the temporal information of environmental impedance. Both spatial information and temporal information are so important for recognition of the unknown environment. Then, this paper proposes the extraction method of the combined environmental information based on real world haptic techniques. In the proposed method, the combined environmental information is extracted by bilateral motion control based on discrete Fourier transform (DFT) modal control. As a result, the environmental modes and the environmental impedance are able to be extracted simultaneously. In addition, the environmental impedance is able to be associated with each environmental mode based on DFT. Finally, the validity of the proposed method is verified by the experimental results.

UR - http://www.scopus.com/inward/record.url?scp=77951087370&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951087370&partnerID=8YFLogxK

U2 - 10.1109/AMC.2008.4516139

DO - 10.1109/AMC.2008.4516139

M3 - Conference contribution

SN - 9781424417032

VL - 1

SP - 625

EP - 630

BT - International Workshop on Advanced Motion Control, AMC

ER -