Verification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Robot

Simple item page
dc.contributor.authorMatsumoto, Koheien_US
dc.contributor.authorFurukawa, Masahiroen_US
dc.contributor.authorWada, Kosukeen_US
dc.contributor.authorKurokawa, Masatakaen_US
dc.contributor.authorMiyamoto, Hirokien_US
dc.contributor.authorMaeda, Taroen_US
dc.contributor.editorBruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sueen_US
dc.date.accessioned2018-11-06T16:07:29Z
dc.date.available2018-11-06T16:07:29Z
dc.date.issued2018
dc.description.abstractAccording to the concept of telexistence, even telexistence with scale conversion requires control of a robot to maintain the same attitude as that of the operator. However, a mismatch arises between the posture of a person and that of a robot because gravity between the operator and the robot is not subjectively equivalent. Our previous research demonstrated the motion of standing from a sitting position in telexistence with scale conversion using a dynamic control method, which can subjectively achieve the equivalent gravity condition between operator and robot. Acceleration in the forward direction is required to move from a standing position to walking at a constant speed. However, the moment compensation device does not consider the motion that produces acceleration in the forward direction. In this research, we achieve the equivalent gravity state without using a moment compensation device and verify the feasibility of generating walking motion from a standing position.en_US
dc.description.sectionheadersAvatars and Movement
dc.description.seriesinformationICAT-EGVE 2018 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments
dc.identifier.doi10.2312/egve.20181312
dc.identifier.isbn978-3-03868-058-1
dc.identifier.issn1727-530X
dc.identifier.pages37-44
dc.identifier.urihttps://doi.org/10.2312/egve.20181312
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/egve20181312
dc.publisherThe Eurographics Associationen_US
dc.subjectEmbedded and cyber
dc.subjectphysical systems → Robotic control
dc.titleVerification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Roboten_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
037-044.pdf
Size:
1.71 MB
Format:
Adobe Portable Document Format
Download
Collections
ICAT-EGVE2018