G150061 動作再現のためのロバストなモーションコピーシステム([G15006]ロボティクス・メカトロニクス部門一般セッション(6))

概要

論文の詳細を見る
Recently, real-world haptics has been attracting attention for human support system. In this paper, the motion-copying system based on real-world haptics is focused. The motion-copying system is the system which stores and reproduces human motion based on force and position information acquired by the bilateral control. The motion-copying system is composed of two systems: motion-saving system and motion-loading system. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, training systems, medical and welfare human assist. However, in the conventional motion-copying system, it is difficult to reproduce the saved motion precisely when the environmental location in the motion-loading system is different from that in the motion-saving system. In this paper, a novel motion-copying system based on velocity information for the change of the environmental location is proposed. By using the proposal, it is possible to reproduce the saved motion even though the environmental location is varied. Validation of the proposal is verified by experimental results.
一般社団法人日本機械学会の論文
2011-09-11