Motion analysis of interaction mode control using principal component analysis

Hiroki Nagashima, Seiichiro Katsura

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

Abstract

Recently, robot application has been widely used not only in industry but also human society. Hereafter, in order to extend the range of work and kinds of motion in human society, it is needed to think about what human is and what human motion is. In conventional method for analysis of human motion, visual-based approach has widely researched. However, force adjustment is important information for many kinds of task such as processing technology and surgical operation. In addition, in order to acquire the advanced motion for robots, feature amount of advanced motion is needed to analyze. First step of motion analysis based on position and force information, the condition which has theoretical value is conducted. This paper proposes motion analysis method for interaction mode control systems using principal component analysis(PCA). Using the proposal, the dominant component is directly estimated from the motion information. To confirm the effectiveness of the method, motion data abstracted by automated control is used. Validity of the proposal is confirmed by experiment of interaction mode control. Experimental results in this paper are compared with the theoretical value.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages540-545
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Nagashima, H., & Katsura, S. (2013). Motion analysis of interaction mode control using principal component analysis. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 540-545). [6519100] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519100