ICAT-EGVE2018

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https://diglib.eg.org/handle/10.2312/2632674

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Browsing ICAT-EGVE2018 by Subject "Embedded and cyber"

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    Equivalent Physical Constant Hypothesis for Skill Transmission in Scale Conversion Telexistence
    (The Eurographics Association, 2018) Miyamoto, Hiroki; Furukawa, Masahiro; Wada, Kosuke; Kurokawa, Masataka; Matsumoto, Kohei; Maeda, Taro; Bruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sue
    Scale conversion telexistence can have an inconsistency in the motions of a human and robot of different scales. We assumed that the inconsistency is caused by the different apparent physical constants for the human and robot. We propose an equivalent physical constant hypothesis for motion skill transmission, which we verified experimentally by transmitting the standing-up movement of a human to a small robot. The robot successfully managed to stand up by compensating for the gravity. This proves the validity of the hypothesis.
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    Verification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Robot
    (The Eurographics Association, 2018) Matsumoto, Kohei; Furukawa, Masahiro; Wada, Kosuke; Kurokawa, Masataka; Miyamoto, Hiroki; Maeda, Taro; Bruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sue
    According 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.