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 language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 625-630 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy Duration: 2008 Mar 26 → 2008 Mar 28 |
Other
| Other | 10th International Workshop on Advanced Motion Control, AMC'08 |
|---|---|
| Country | Italy |
| City | Trento |
| Period | 08/3/26 → 08/3/28 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
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 proceeding › Conference contribution
}
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
AN - SCOPUS:77951087370
SN - 9781424417032
VL - 1
SP - 625
EP - 630
BT - International Workshop on Advanced Motion Control, AMC
ER -