Reproduction of motion obtained in bilateral control considering environment position

Seinan Kyo, Kouhei Ohnishi

研究成果: Conference contribution

抄録

In the aging society with less work force, replacement of work force by robot is expected. However, ordinary people are not good at programming a robot. A user friendly programming method is programming by demonstration, which requires users only to show the motion to robots by doing it by themselves. There still remains problems for programming by demonstration with bilateral control as its mean. That is recorded raw data is unsuitable to the situation at use, especially because of repositioning of the object working on. In this paper, with camera, which is a sensor often used in autonomous robots, the object position was measured and rearrangement of the motion data is conducted. As a result, the proper motion could reproduced concerning the relative position with the target object. The performance of the proposed method was compared with the conventional method in experiments, and discussion on its real use was held.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ144-149
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4月 9
外部発表はい
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3月 62015 3月 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
国/地域Japan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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