Velocity based motion-copying system for grasping/manipulation motion reproduction

Shunsuke Yajima, Seiichiro Katsura

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

5 Citations (Scopus)

Abstract

This paper proposes a velocity based motion-copying system for grasping/manipulation motion reproduction. The motion-copying system is able to store and reproduce human motion based on the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. In this paper, the motion-copying system is applied to grasping/manipulation motion reproduction. However, by the conventional method, it is difficult to reproduce the saved motion precisely when a diameter of a grasping object in the motion-loading phase is different from that in the motion-saving phase. On the other hand, the proposed method is able to reproduce the saved motion according to the configuration of the object, therefore the diameter of the object needs not to be considered. Performance of the proposed method is compared with the conventional method by simulations, and validity is verified.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages515-520
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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