TY - GEN
T1 - Simplified integrated reproduction of human motion based on motion-copying system
AU - Yajima, Shunsuke
AU - Katsura, Seiichiro
PY - 2012
Y1 - 2012
N2 - This paper proposes a simplified integrated reproduction of saved motion components. For storing and reproduction of haptic information, a motion-copying system was proposed. By the motion-copying system, for example, techniques of experts can be reproduced by robots to improve work efficiency. In the skill reproduction by robots, it is possible to reproduce the various motion by integration of the saved motion components which are stored in advance. In fact, the motion which is required some processes of works is achieved according to integrated reproduction of these motion components. By using the proposed method, the design procedure of integration of the motion components is very easy, and the saved motion components are integrated smoothly. Performance of the proposed method is compared with the linear interpolation method by experiments, and the validity is confirmed.
AB - This paper proposes a simplified integrated reproduction of saved motion components. For storing and reproduction of haptic information, a motion-copying system was proposed. By the motion-copying system, for example, techniques of experts can be reproduced by robots to improve work efficiency. In the skill reproduction by robots, it is possible to reproduce the various motion by integration of the saved motion components which are stored in advance. In fact, the motion which is required some processes of works is achieved according to integrated reproduction of these motion components. By using the proposed method, the design procedure of integration of the motion components is very easy, and the saved motion components are integrated smoothly. Performance of the proposed method is compared with the linear interpolation method by experiments, and the validity is confirmed.
KW - Acceleration control
KW - Bilateral control
KW - Disturbance observer
KW - Haptics
KW - Motion control
KW - Motion-copying system
UR - http://www.scopus.com/inward/record.url?scp=84877841060&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84877841060&partnerID=8YFLogxK
U2 - 10.1109/HSI.2012.24
DO - 10.1109/HSI.2012.24
M3 - Conference contribution
AN - SCOPUS:84877841060
SN - 9780769548944
T3 - International Conference on Human System Interaction, HSI
SP - 110
EP - 115
BT - Proceedings - 5th International Conference on Human System Interactions, HSI 2012
T2 - 5th International Conference on Human System Interactions, HSI 2012
Y2 - 6 June 2012 through 8 June 2012
ER -