Grasping and manipulation control by visual information based on human motion imitation

Hiroya Suzuki, Toshiyuki Murakami

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

1 Citation (Scopus)

Abstract

In the study of robotics, human motion imitation and learning is an active area of research. To learn motion from imitation, robots allow realistic movement without complex teaching and it's also thought that cooperation tasks between people and robots become easy. In those researches, image feedback is useful. Features of the image feedback by vision sensor are non-contact and possible to extract many environmental information. In this paper, I proposed control system which can concrete task with human motion imitation. We capture human motion by camera, and make robots imitate the motion. Grasping and manipulation are achieved by force control based on human motion. Specifically, this paper is focused on adjusting of unknown shaped objects and switching control system for contact and non-contact. With this in mind, proposed control system is evaluated by simulation.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages4509-4514
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

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Keywords

  • Compliance Control
  • Grasping and manipulation control
  • Human motion imitation
  • Reaction torque observer (RTOB)
  • Switching Control
  • Visual information

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Suzuki, H., & Murakami, T. (2011). Grasping and manipulation control by visual information based on human motion imitation. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 4509-4514). [6120052] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6120052