Design method for motion reproduction system including time scaling based on robot dynamics

Hiroaki Kuwahara, Kouhei Ohnishi, Noboru Tsunashima, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

The robotic technology which can save and reconstruct complicate and dexterous motion of human is required to solve skill preservation and skill transfer problems. A motion copying system is a candidate of the robotic technology. The motion copying system is composed of a motion saving system and a motion loading system. By using the motion saving system, human motion can be saved as haptic information. The motion loading system reconstructs the saved haptic data in chronological order. By using the motion loading system, spacelike pattern (trajectory) and timelike pattern (time cycle) of the saved motion can be reconstructed. When the reproduction speed of the loading system can be changed arbitrarily, the working efficiency can be improved. Therefore, in this paper, the motion reproduction system including the time scaling is proposed. The time scaling is defined as expansion and reduction of the motion timelike pattern. The proposed reproduction system enables to change the timelike pattern arbitrarily while the spacelike pattern is unchanged. The validity of the proposed method is confirmed by experiments.

本文言語English
ホスト出版物のタイトルProceedings - ICIT 2010
ホスト出版物のサブタイトルIEEE-ICIT 2010 International Conference on Industrial Technology
ページ483-488
ページ数6
DOI
出版ステータスPublished - 2010 7月 14
イベントIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile
継続期間: 2010 3月 142010 3月 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

OtherIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
国/地域Chile
CityVina del Mar
Period10/3/1410/3/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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