Online Motion Modification by Operator in Motion Reproduction System

Xiaobai Sun, Takahiro Nozaki, Kouhei Ohnishi, Toshiyuki Murakami

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

Abstract

This paper proposes a novel online motion modification method in motion reproduction system. Motion reproduction is used to reproduce human motion saved through bilateral control. Bilateral control is a teleoperation which can transmit both position and force. Human judgement is needed for compensating the saved motion when the environment is different. However, conventional motion reproduction system only relies on saved motion or environment in slave side. Therefore operators in master side cannot modify the motion after motion has been saved. Instead of just reproducing the motion data, the proposed method adds master system at motion reproduction phase so that an operator can modify the motion. If the master system is simply added to motion reproduction system, the operator's motion and saved motion will interfere each other. Therefore, we propose to use weightings to suppress the interference. Simulated results validates the effectiveness of the proposal.

Original languageEnglish
Title of host publicationProceedings - IECON 2020
Subtitle of host publication46th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages668-673
Number of pages6
ISBN (Electronic)9781728154145
DOIs
Publication statusPublished - 2020 Oct 18
Event46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
Duration: 2020 Oct 192020 Oct 21

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

Keywords

  • Bilateral Control
  • Human-Robot Interaction
  • Motion Control
  • Motion Reproduction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Online Motion Modification by Operator in Motion Reproduction System'. Together they form a unique fingerprint.

Cite this