Spatial shaping of motion-data based on motion-copying system using variable temporal scaling

Ko Igarashi, Seiichiro Katsura

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

Abstract

In the field of industrial processing, there are still many parts performed manually. For this problem, a motion-copying system was proposed to put into practical use to create the labor force instead of human. Moreover, motion data that can be processing and reproducing are needed to extend the viability of motion-copying system. In this paper, a temporal compensation method is proposed in order to maintain the reproducibility of saved human motion. Reaction force of loaded motion data is different from saved one when the data is processed by a spatial scaling. Here, a temporal compensation that is based on the variable temporal scaling is introduced in order to make equal reaction force of saved human motion data and that of loaded human motion data. The temporal processing of motion data is based on the first-order hold interpolation. It can process the motion data and solve the resample problem that occurs when discrete motion data is treated at the same time. Validity was confirmed by the experiments.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2866-2871
Number of pages6
Volume40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
ISBN (Electronic)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Igarashi, K., & Katsura, S. (2014). Spatial shaping of motion-data based on motion-copying system using variable temporal scaling. In IECON Proceedings (Industrial Electronics Conference) (Vol. 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014, pp. 2866-2871). [7048915] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7048915