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Development of Anthropomorphic Multi-D.O.F. Master-Slave Arm for Mutual Telexistence
http://hdl.handle.net/2261/6879
http://hdl.handle.net/2261/687941192304-ac04-42d6-b2df-69c6c0bff8cf
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
01512014.pdf (3.0 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2007-06-06 | |||||
| タイトル | ||||||
| タイトル | Development of Anthropomorphic Multi-D.O.F. Master-Slave Arm for Mutual Telexistence | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Telexistence | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | virtual reality | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | force feedback | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | bilateral impedance control | |||||
| 資源タイプ | ||||||
| 資源 | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| 著者 |
Tadakuma, Riichiro
× Tadakuma, Riichiro× Asahara, Yoshiaki× Kajimoto, Hiroyuki× Kawakami, Naoki× Tachi, Susumu |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | We developed a robotic arm for a master-slave system to support "mutual telexistence," which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system. | |||||
| 書誌情報 |
IEEE transactions on visualization and computer graphics 巻 11, 号 6, p. 626-636, 発行日 2005-11 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 10772626 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA11036344 | |||||
| DOI | ||||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | info:doi/10.1109/TVCG.2005.99 | |||||
| 権利 | ||||||
| 権利情報 | ©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 007.642 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
