Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates

Yuki Nagatsu, Seiichiro Katsura

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

3 Citations (Scopus)

Abstract

This paper proposes a motion reproducing system for human pinching and rotational tasks in the two dimension. By using coordinate transformation to polar coordinates from Cartesian coordinates of grasping motion, internal force control and attitude control motions are able to reproduce independently. Proposed method makes it possible to reproduce human pinching and rotational motions even if the size of target objects are different compared to motion saving phase. In the experiments, results demonstrate that conventional method to deal with the difference about the size of objects cannot reproduce the motions concern pinching motions and validity of the proposed method is confirmed.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages546-551
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

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Nagatsu, Y., & Katsura, S. (2013). Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 546-551). [6519101] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519101