Synthesis of Motion-Reproduction Systems Based on Motion-Copying System Considering Control Stiffness
Synthesis of Motion-Reproduction Systems Based on Motion-Copying System Considering Control Stiffness
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DOI：
10.1109/tmech.2015.2478897
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
K. Miura;Ayaka Matsui;S. Katsura
中科院分区：
文献类型：
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作者：
K. Miura;Ayaka Matsui;S. Katsura
随着视觉和音频信息领域的进步，第三种信息媒介，即触觉信息，有望成为机器人行业关键技术的基础。触觉信息包括位置和力信息，这些信息是通过运动复制系统（MCS）获得的。 MCS 可以将人体运动存储在运动数据库中，并稍后在任何其他位置重现该运动。然而，MCS 有一个重大缺点。执行运动保存阶段和运动再现阶段的情况应该是相同的。如果存在差异，则将无法正确再现存储的人体运动。为了解决这个问题，之前已经提出了各种运动再现系统。然而，先前研究中提出的每个运动再现系统只能为特定问题提供解决方案。因此，在本研究中，运动再现系统在控制刚度方面是统一的。通过运动再现系统的集成，很明显，MCS 中的位置和力控制只能通过传统上获得的柔顺控制来实现。换句话说，可以根据情况合成运动再现系统，并且可以解决相关问题。通过对 MCS 的应用进行测试，证实了本文提出的概念的有效性。
Following advancements in the field of visual and audio information, a third medium of information, namely, haptic information, is expected to become the basis of a key technology in the robotics industry. Haptic information includes position and force information, and such information is obtained through a motion-copying system (MCS). An MCS can store human motion in a motion database and reproduce the motion later at any other location. However, the MCS has a major disadvantage. The situations under which the motion-saving and motion-reproducing phases are carried out should be the same. If differences exist, the stored human motion will not be correctly reproduced. To solve this problem, the various motion-reproduction systems have been proposed previously. However, each motion-reproduction system proposed in previous research can provide a solution only for a particular problem. Therefore, in this study, motion-reproduction systems are unified in terms of control stiffness. By the integration of the motion-reproduction systems, it became clear that position and force control in an MCS can be realized only though compliance control, which was obtained conventionally. In other words, motion-reproduction systems can be synthesized depending on the situation and the associated problem can become solved. The validity of the concept proposed in this paper was confirmed by testing it for an application of the MCS.