Paper Abstract and Keywords |
Presentation |
2011-03-08 10:40
Motion Adaptation of a Multijoint Arm using Inverse Statics and Dynamics Models Masashi Otani, Kouichi Taji, Yoji Uno (Nagoya Univ.) NC2010-162 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
We have proposed a motion adaptation scheme using an inverse model of a controlled object based on human motion control. This scheme iteratively corrects the motor command by a Newton-like method based on the gradient of an inverse model and trajectory errors, and gives the motor command for a desired trajectory. In the current study, we extend this iterative control scheme to a modular system that consists of an inverse dynamics
model (IDM) and an inverse statics model (ISM). In the proposal scheme, gravity factor is compensated by an acquired ISM a priori, and the motion adaptation is expected to cope with various changes of a movement environment.The effectiveness of the scheme is confirmed by computational simulation and actual experiments of a 2-link arm. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Motion adaptation / Iterative control / Inverse statics model / Inverse dynamics model / Neural rnetwok / / / |
Reference Info. |
IEICE Tech. Rep., vol. 110, no. 461, NC2010-162, pp. 205-210, March 2011. |
Paper # |
NC2010-162 |
Date of Issue |
2011-02-28 (NC) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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NC2010-162 |
Conference Information |
Committee |
NC MBE |
Conference Date |
2011-03-07 - 2011-03-09 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Tamagawa University |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
NC |
Conference Code |
2011-03-NC-MBE |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Motion Adaptation of a Multijoint Arm using Inverse Statics and Dynamics Models |
Sub Title (in English) |
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Keyword(1) |
Motion adaptation |
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Iterative control |
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Inverse statics model |
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Inverse dynamics model |
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Neural rnetwok |
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1st Author's Name |
Masashi Otani |
1st Author's Affiliation |
Nagya University (Nagoya Univ.) |
2nd Author's Name |
Kouichi Taji |
2nd Author's Affiliation |
Nagya University (Nagoya Univ.) |
3rd Author's Name |
Yoji Uno |
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Nagya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2011-03-08 10:40:00 |
Presentation Time |
25 minutes |
Registration for |
NC |
Paper # |
NC2010-162 |
Volume (vol) |
vol.110 |
Number (no) |
no.461 |
Page |
pp.205-210 |
#Pages |
6 |
Date of Issue |
2011-02-28 (NC) |
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