DocumentCode
2390161
Title
Motion reproduction system of manipulating and grasping motion for grasping objects of unknown size
Author
Sato, Tomoya ; Sakaino, Sho ; Ono, Hisashi
Author_Institution
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
fYear
2011
fDate
17-19 June 2011
Firstpage
254
Lastpage
259
Abstract
This is research for reproduction of human motion with position and force information of robots. In this research, manipulating and grasping motion of human motion is considered. In manipulating and grasping motion of a two-degree-of-freedom (two-DOF) motion reproduction system, size of grasping objects is important. Conventionally, motion reproduction has been achieved, if and only if the size of grasping objects in reproduction is equal to that in saving. Therefore, to solve this problem, a motion reproduction system that is tolerant of grasping objects of unknown size is presented. The validity is confirmed by experiments with the two-DOF system.
Keywords
humanoid robots; mobile robots; grasping motion; grasping objects; manipulating motion; two-degree-of-freedom motion reproduction system; unknown size; Frequency modulation; Grasping; Impedance;
fLanguage
English
Publisher
ieee
Conference_Titel
Access Spaces (ISAS), 2011 1st International Symposium on
Conference_Location
Yokohama
Print_ISBN
978-1-4577-0716-2
Electronic_ISBN
978-1-4577-0715-5
Type
conf
DOI
10.1109/ISAS.2011.5960958
Filename
5960958
Link To Document