Grasping and manipulation control by visual information based on human motion imitation

Hiroya Suzuki, Toshiyuki Murakami

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

In the study of robotics, human motion imitation and learning is an active area of research. To learn motion from imitation, robots allow realistic movement without complex teaching and it's also thought that cooperation tasks between people and robots become easy. In those researches, image feedback is useful. Features of the image feedback by vision sensor are non-contact and possible to extract many environmental information. In this paper, I proposed control system which can concrete task with human motion imitation. We capture human motion by camera, and make robots imitate the motion. Grasping and manipulation are achieved by force control based on human motion. Specifically, this paper is focused on adjusting of unknown shaped objects and switching control system for contact and non-contact. With this in mind, proposed control system is evaluated by simulation.

元の言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ページ4509-4514
ページ数6
DOI
出版物ステータスPublished - 2011 12 1
イベント37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
継続期間: 2011 11 72011 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Australia
Melbourne, VIC
期間11/11/711/11/10

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Suzuki, H., & Murakami, T. (2011). Grasping and manipulation control by visual information based on human motion imitation. : Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 4509-4514). [6120052] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6120052