Towards performance improvement of motion reproduction based on motion-copying system

Shunsuke Yajima, Seiichiro Katsura

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

Abstract

This paper proposes a novel motion-copying system for performance improvement of motion reproduction. For storage and reproduction of human motion information, a motion-copying system was proposed previously. The motion-copying system is based on the bilateral control, and the stored motions which are obtained by the master-slave system can be reproduced by the slave. In the conventional method, however, precise motion reproduction can not be always attained because the slave reproduces the motion data which are acquired at the master. On the other hand, the proposed method stores the motion data at the slave, and the slave reproduces this data. In the proposed method, force, position, and acceleration reference at the slave are stored and reproduced. Furthermore, this paper analyzes the performances of the conventional method and the proposed method, and reveals that the proposed method shows the better performance with respect to motion reproduction than the conventional method. Finally, the validity of the proposed method is verified by some experiments.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages582-587
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

Keywords

  • Bilateral control
  • Disturbance observer
  • Haptics
  • Motion control
  • Motion reproduction
  • Motion-copying system

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Yajima, S., & Katsura, S. (2013). Towards performance improvement of motion reproduction based on motion-copying system. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 582-587). [6519107] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519107