書誌事項
- タイトル別名
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- A Realization of Motion Copying System Based on Multilateral Control
- マルチラテラル セイギョ ニ モトズク モーション コピー システム ノ ジツゲン
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抄録
This paper proposes a motion copying system in order to reproduce motion of human operators. The motion copying system consists of both motion saving system and motion loading system based on multilateral controller. The motion saving system is realized by master systems and a slave system. The motion saving system saves motion of a slave system when human operator moves the master systems. At the same time, identity ratio is introduced to decouple the masters motions. The identity ratio of each master system is calculated by force of all master systems, and are saved to memory. On the contrary, real-world master systems and a virtual-world slave system realize the motion loading system. The motion loading system reproduces the motion using saved motion data and value of the identity ratio. The paper confirms that the motion saving system and motion loading system based on multilateral controller is generalized. The reproduced position and force correspond to the saved ones by the proposed method.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 128 (9), 1140-1146, 2008
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204658877824
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- NII論文ID
- 10024267477
- 10025654365
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- NII書誌ID
- AN10074226
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- ISSN
- 13488163
- 09136339
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可