Motion-copying system using modal information for motion reproduction

Ayaka Matsui, Seiichiro Katsura

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

6 Citations (Scopus)

Abstract

This paper proposes a motion-copying system using modal information for motion reproduction. A motion-copying system has been proposed as the system of saving and reproducing a human motion. However, the conventional system can not reproduce the stored motion when an environmental location is changed between a motion-saving phase and a motion-loading phase. Then, a velocity-based motion-copying system has been proposed. Although this system can reproduce the stored motion once the system contacts with the environment, it takes time to adapt the different location of environment. To reproduce the human motion which contains vivid haptic information, it is needed to construct a much strict motion-reproduction system. Therefore, the motion-copying system using modal information is proposed in this paper. The proposed method stores and reproduces the estimated force and the differential mode of position responses, while the conventional method uses force and position responses of the human motion. By the proposed method, the stored motion can be reproduced precisely when the environmental location is unknown. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6132-6137
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Matsui, A., & Katsura, S. (2013). Motion-copying system using modal information for motion reproduction. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6132-6137). [6700143] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700143