NDLI: Robust motion-copying system using motion-data memory

Content Provider	IEEE Xplore Digital Library
Author	Matsui, Ayaka Miura, Kazumasa Katsura, Seiichiro
Copyright Year	2013
Description	Author affiliation: School of Integrated Design, Engineering, Keio University, Japan (Matsui, Ayaka; Miura, Kazumasa) \|\| Department of System Design, Engineering, Keio University, Japan (Katsura, Seiichiro)
Abstract	This paper proposes a robust motion-copying system using the motion-data memory. A motion-copying system has been proposed as the system of saving and reproducing the human motion. In the conventional method, the reproduced motion is different from the saved motion when an unexpected force inputs the system. Therefore, the conventional system may cause the destruction of the environment. To solve this problem, the robust motion-copying system is proposed. The proposed motion-copying system uses the saved force and position information in the master side and the force information in the slave side, although the conventional motion-copying system uses just the saved force and position information in the master side. Therefore, the proposed system divides the estimated force into the reaction force from the environment and an unexpected force by using the motiondata memory. Since these forces are compensated separately, the unexpected force does not affect the reproduced motion. As a result, the robust motion-copying system is realized. The validity of the proposed method is verified by the experiments.
Starting Page	1
Ending Page	6
File Size	2180801
Page Count	6
File Format	PDF
ISBN	9781467351942
ISSN	21635145
e-ISBN	9781467351935
DOI	10.1109/ISIE.2013.6563816
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-28
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Robustness Robots Acceleration Haptic interfaces Loading Control systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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