Velocity based motion-copying system for integrated reproduction of motion components

摘要

This paper proposes integrated reproduction of saved motion components by using velocity based motion-copying system. A motion-copying system has been studied in order to store and reproduce human haptic information. The motion-copying system is expected to be applied various applications such as industrial applications, training system, medical and welfare human assist, and so on. Above all, this paper considers the skill reproduction by robots. In this field, it is possible to reproduce the various motion by integration of the saved motion components, and the skill which is required some processes of works can be realized according to integrated reproduction of saved motion components. In conventional methods, however, the environmental location is required to know in the motion-loading phase. On the other hand, the proposed method can reproduce the saved motion components when the environmental location is unknown in the motion-loading phase. Finally, performance of the proposed method is compared with the conventional method by experiments, and the validity is confirmed.