Motion Generation Based on Physical Property Estimation in Motion Copy System

被引：2

作者：

Kitamura, Tomoya ^{[1
]}

Sun, Xiaobai ^{[2
]}

Saito, Yuki ^{[1
]}

Asai, Hiroshi ^{[1
]}

Nozaki, Takahiro ^{[3
]}

Ohnishi, Kouhei ^{[1
,4
]}

机构：

[1] Keio Univ, Hapt Res Ctr, Kawasaki, Kanagawa, Japan

[2] Keio Univ, Grad Sch Integrated Design Engn, Kawasaki, Kanagawa, Japan

[3] Keio Univ, Dept Syst Design Engn, Kawasaki, Kanagawa, Japan

[4] Kanagawa Inst Ind Sci & Technol, Kawasaki, Kanagawa, Japan

来源：

2022 IEEE 17TH INTERNATIONAL CONFERENCE ON ADVANCED MOTION CONTROL (AMC) | 2022年

关键词：

Bilateral control; motion control; motion copy system; physical property estimation; BILATERAL CONTROL; STIFFNESS;

D O I：

10.1109/AMC51637.2022.9729324

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The motion copy system (MCS) reproduces motions based on recorded motion data. The MCS can reproduce recorded motions with the contribution of position and force control, even for minor environmental changes. Therefore, it has the potential to preserve professional skills and reproduce movements repeatedly. However, there was a problem that it could not be reproduced when the environment was significantly different. Therefore, in this paper, we attempt to sequentially estimate the object's physical properties and modify the playback data appropriately. In the experiment results, the MCS and the proposed method were compared by a pick- and- place motion using a 5-DOF robot arm. The results showed that the proposed method had the highest success rate.

引用

页码：62 / 67

页数：6

共 50 条

[11] True Motion Estimation Based on Reliable Motion Decision
Kuo, Tien-Ying
Hsieh, Cheng-Hong
Lo, Yi-Chung
Wang, Jian-Hua
2013 ASIA-PACIFIC SIGNAL AND INFORMATION PROCESSING ASSOCIATION ANNUAL SUMMIT AND CONFERENCE (APSIPA), 2013,
[12] Estimation of motion using motion blur for tracking vision system
Kawamura, S
Kondo, K
Konishi, Y
Ishigaki, H
MULTIMEDIA, IMAGE PROCESSING AND SOFT COMPUTING: TRENDS, PRINCIPLES AND APPLICATIONS, 2002, 13 : 371 - 376
[13] Motion estimation from motion smear - A system identification approach
Omer, OJ
Kumar, S
Bajpai, R
Venkatesh, KS
Gupta, S
ICIP: 2004 INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1- 5, 2004, : 1855 - 1858
[14] A motion generation system for humanoid robots - Tai Chi motion
Noritake, K
Kato, S
Yamakita, T
Itoh, H
MHS2003: PROCEEDINGS OF 2003 INTERNATIONAL SYMPOSIUM ON MICROMECHATRONICS AND HUMAN SCIENCE, 2003, : 265 - 269
[15] Floor Surface Property Estimation based on Measurement of Hardness and Viscosity Using Wiping-motion and Separating-motion
Matsumoto, Koichiro
Yamazaki, Kimitoshi
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 2558 - 2564
[16] Multiresolution based motion estimation
Gorsich, D
Karlsen, RE
Gerhart, GR
TARGETS AND BACKGROUNDS: CHARACTERIZATION AND REPRESENTATION III, 1997, 3062 : 261 - 266
[17] Fast global motion estimation for sprite generation
Cheung, HK
Siu, WC
2002 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOL III, PROCEEDINGS, 2002, : 1 - 4
[18] Fast Subpixel Motion Estimation Based on Human Visual System
Hosseini Avashanagh, Dadvar
Nooshyar, Mehdi
Barghandan, Saeed
Ghandchi, Majid
INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS, 2024, 2024
[19] EEG-based Evaluation System for Motion Sickness Estimation
Wei, Chun-Shu
Ko, Li-Wei
Chuang, Shang-Wen
Jung, Tzyy-Ping
Lin, Chin-Teng
2011 5TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER), 2011, : 100 - 103
[20] Hybrid Rehabilitation System with Motion Estimation Based on EMG Signals
Takenaka, Kensuke
Shima, Keisuke
Shimatani, Koji
2023 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, ICORR, 2023,

← 1 2 3 4 5 →