Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis

Hiroki Nagashima, Seiichiro Katsura

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

Abstract

This paper proposes an estimation method of functional mode in grasping/manipulation motion in scaled bilateral control system. In the conventional method, however, it is presupposed that functional-mode is predefined. By using proposed method using principal component analysis(PCA), time-variable functional mode of control system and human motion is directly estimated from motion information without considering predefined functional mode. In grasping/manipulation motion in scaled bilateral control, it is possible to estimate the principal functional mode and evaluate the performance of control systems. Validity of the proposal is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages4412-4417
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Nagashima, H., & Katsura, S. (2012). Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 4412-4417). [6389178] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389178