Robust motion-copying system using motion-data memory

Ayaka Matsui, Kazumasa Miura, Seiichiro Katsura

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

This paper proposes a robust motion-copying system using the motion-data memory. A motion-copying system has been proposed as the system of saving and reproducing the human motion. In the conventional method, the reproduced motion is different from the saved motion when an unexpected force inputs the system. Therefore, the conventional system may cause the destruction of the environment. To solve this problem, the robust motion-copying system is proposed. The proposed motion-copying system uses the saved force and position information in the master side and the force information in the slave side, although the conventional motion-copying system uses just the saved force and position information in the master side. Therefore, the proposed system divides the estimated force into the reaction force from the environment and an unexpected force by using the motiondata memory. Since these forces are compensated separately, the unexpected force does not affect the reproduced motion. As a result, the robust motion-copying system is realized. The validity of the proposed method is verified by the experiments.

本文言語English
ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOI
出版ステータスPublished - 2013 8月 22
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5月 282013 5月 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
国/地域Taiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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