Online Motion Modification by Operator in Motion Reproduction System

Xiaobai Sun, Takahiro Nozaki, Kouhei Ohnishi, Toshiyuki Murakami

研究成果: Conference contribution

抄録

This paper proposes a novel online motion modification method in motion reproduction system. Motion reproduction is used to reproduce human motion saved through bilateral control. Bilateral control is a teleoperation which can transmit both position and force. Human judgement is needed for compensating the saved motion when the environment is different. However, conventional motion reproduction system only relies on saved motion or environment in slave side. Therefore operators in master side cannot modify the motion after motion has been saved. Instead of just reproducing the motion data, the proposed method adds master system at motion reproduction phase so that an operator can modify the motion. If the master system is simply added to motion reproduction system, the operator's motion and saved motion will interfere each other. Therefore, we propose to use weightings to suppress the interference. Simulated results validates the effectiveness of the proposal.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2020
ホスト出版物のサブタイトル46th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ668-673
ページ数6
ISBN(電子版)9781728154145
DOI
出版ステータスPublished - 2020 10 18
イベント46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
継続期間: 2020 10 192020 10 21

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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