Identification of contact condition based on modal motion stiffness by bilateral motion control

Tomoyuki Shimono, Kouhei Ohnishi

研究成果: Paper査読

抄録

This paper proposes a recognition method of contact condition based on the concept of modal motion stiffness in bilateral control system. The acceleration control-based bilateral control method with modal decomposition can divide complicated human motion into the independent motion elements. Since it can transmit vivid force sensation from the real environment, precise environmental information can be abstracted as well. This paper presents a novel concept of modal motion stiffness. The modal motion stiffness expresses stiffness in each independent motion element which is called as a mode. Then, the identification of contact constraint can be realized from the proposed modal motion stiffness. The experimental results are shown in this paper in order to confirm the validity of the proposed method.

本文言語English
ページ3112-3117
ページ数6
DOI
出版ステータスPublished - 2009 12月 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11月 32009 11月 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
国/地域Portugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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