Motion reproduction using time-scaling for adaptation to difference in environmental location

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

This paper addresses methods to recreate humanlike motions involving direct contact with objects in robots. Motion reproduction systems using motion information extracted by bilateral teleoperation have been developed. However, conventional systems lack adaptability to difference in environmental location. The objective of this research is realization of a system, which can accommodate to the difference in environmental location. The proposed method uses position offset and time-scaling techniques. The offset value and the time-scaling ratio vary according to the difference between the extracted and current force information in real-time. The validity of the proposed method is verified by comparative experiments. The proposed method accomplishes to accurate reproduction of the stored motion. This proposed method shows the usefulness especially in duration of the contact state and amplitude of the force.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages45-50
Number of pages6
ISBN (Electronic)9781479939398
DOIs
Publication statusPublished - 2014 Sep 9
Event2014 IEEE International Conference on Industrial Technology, ICIT 2014 - Busan, Korea, Republic of
Duration: 2014 Feb 262014 Mar 1

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2014 IEEE International Conference on Industrial Technology, ICIT 2014
CountryKorea, Republic of
CityBusan
Period14/2/2614/3/1

Keywords

  • Bilateral control
  • haptics
  • motion control
  • motion-copying system
  • time-scaling

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Nozaki, T., Mizoguchi, T., & Ohnishi, K. (2014). Motion reproduction using time-scaling for adaptation to difference in environmental location. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 45-50). (Proceedings of the IEEE International Conference on Industrial Technology). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2014.6894970