Motion reproduction using time-scaling for adaptation to difference in environmental location

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This paper addresses methods to recreate humanlike motions involving direct contact with objects in robots. Motion reproduction systems using motion information extracted by bilateral teleoperation have been developed. However, conventional systems lack adaptability to difference in environmental location. The objective of this research is realization of a system, which can accommodate to the difference in environmental location. The proposed method uses position offset and time-scaling techniques. The offset value and the time-scaling ratio vary according to the difference between the extracted and current force information in real-time. The validity of the proposed method is verified by comparative experiments. The proposed method accomplishes to accurate reproduction of the stored motion. This proposed method shows the usefulness especially in duration of the contact state and amplitude of the force.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Industrial Technology
出版社Institute of Electrical and Electronics Engineers Inc.
ページ45-50
ページ数6
ISBN(電子版)9781479939398
DOI
出版ステータスPublished - 2014 9月 9
イベント2014 IEEE International Conference on Industrial Technology, ICIT 2014 - Busan, Korea, Republic of
継続期間: 2014 2月 262014 3月 1

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2014 IEEE International Conference on Industrial Technology, ICIT 2014
国/地域Korea, Republic of
CityBusan
Period14/2/2614/3/1

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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