Improvements in motion learning system using force reverse presentation control with variable force and time

Keishi Okuda, Yusuke Suzuki, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In this paper, Force Reverse Presentation Control (FRPC) with variable force and time is proposed for skill transfer. FRPC is composed of two parts; motion saving system and motion learning system. In motion saving system, motion of skilled operator is saved by using master-slave bilateral control. In motion learning system, the slave robot (Robot1) reproduces the saved motion, and master robot (Robot2) is operated by the learner. The learner imitates the Robot1 for skill transfer. FRPC is utilized in the Robot2, which produces reverse force of the skilled operator. The learner can learn the motion information by imitating the Robot1 and operating the Robot2. Effective skill transfer is achieved with the reproduction algorithm. The validity of the proposed method is confirmed by simulation and experiments.

Original languageEnglish
Title of host publicationProceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
Pages2171-2176
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
Duration: 2011 Jun 272011 Jun 30

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
CountryPoland
CityGdansk
Period11/6/2711/6/30

Fingerprint

Learning systems
Experiments

Keywords

  • Haptics
  • Leaning system
  • Motion copying system
  • Reproduction Algorithm
  • Skill transfer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Okuda, K., Suzuki, Y., & Ohnishi, K. (2011). Improvements in motion learning system using force reverse presentation control with variable force and time. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 2171-2176). [5984497] https://doi.org/10.1109/ISIE.2011.5984497

Improvements in motion learning system using force reverse presentation control with variable force and time. / Okuda, Keishi; Suzuki, Yusuke; Ohnishi, Kouhei.

Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 2171-2176 5984497.

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

Okuda, K, Suzuki, Y & Ohnishi, K 2011, Improvements in motion learning system using force reverse presentation control with variable force and time. in Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics., 5984497, pp. 2171-2176, 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011, Gdansk, Poland, 11/6/27. https://doi.org/10.1109/ISIE.2011.5984497
Okuda K, Suzuki Y, Ohnishi K. Improvements in motion learning system using force reverse presentation control with variable force and time. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 2171-2176. 5984497 https://doi.org/10.1109/ISIE.2011.5984497
Okuda, Keishi ; Suzuki, Yusuke ; Ohnishi, Kouhei. / Improvements in motion learning system using force reverse presentation control with variable force and time. Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. pp. 2171-2176
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