Reproduction of human motion using motion-copying system based on coordinate modification

Tsunashima, Noboru; Katsura, Seiichiro

doi:10.1109/iecon.2010.5675444

Cited by 16 publications

(13 citation statements)

References 25 publications

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“…Another example of this unadaptability is that excessive force may be applied to the target object if it is larger than its supposed size. A method that adjusts the position offset depending on the force error of the reproduction phase has been proposed to compensate for the environmental difference [15]. Another method that involves the substitution of a velocity controller for a position controller has also been presented [16]- [18].…”

Section: Introductionmentioning

confidence: 99%

Extraction and realization of human actions

Nozaki

Tanida

Mizoguchi

et al. 2014

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)

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The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided to the slave robot. To attain the reproduction, a force control scheme is employed. The utility of the proposed method is experimentally verified by applying to a removal operation of a nut.

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Section: Introductionmentioning

confidence: 99%

Extraction and realization of human actions

Nozaki

Tanida

Mizoguchi

et al. 2014

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)

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“…Another example of this inadaptability is that excessive force may be applied to the target objects if the objects are located in the nearer than its supposed location. To adapt to the difference in environmental location, a method adjusting the position offset depending on the force error of the reproduction phase has been proposed [16]. However, the adjustment of the position offset takes time and results in a reduction in the contact time.…”

Section: Introductionmentioning

confidence: 99%

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

Nozaki

Mizoguchi

Ohnishi

2014

2014 IEEE International Conference on Industrial Technology (ICIT)

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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.

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“…Sato et al proposed a novel motion reproduction method (14) . Tsunashima et al also proposed a motion-loading system with coordinate modification (15) . In these conventional methods, however, it is difficult or ambiguous to design the control systems, and these methods have been applied to 1-degree-of-freedom (DOF) master-slave system.…”

Section: Introductionmentioning

confidence: 99%

“…In the conventional motion-copying system (4) , it is difficult to reproduce the saved motion perfectly when the environmental configuration in the motion-loading system is different from that in the motion-saving system. In order to solve this problem, some methods have been proposed in the past (13)- (15) . Tsunashima et al proposed an acceleration information based method (13) .…”

Section: Introductionmentioning

confidence: 99%

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Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

2013

Self Cite

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This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

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Reproduction of human motion using motion-copying system based on coordinate modification

Cited by 16 publications

References 25 publications

Extraction and realization of human actions

Extraction and realization of human actions

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

Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

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