Simplified Integrated Reproduction of Human Motion Based on Motion-Copying System

This paper proposes a simplified integrated reproduction of saved motion components. For storing and reproduction of haptic information, a motion-copying system was proposed. By the motion-copying system, for example, techniques of experts can be reproduced by robots to improve work efficiency. In the skill reproduction by robots, it is possible to reproduce the various motion by integration of the saved motion components which are stored in advance. In fact, the motion which is required some processes of works is achieved according to integrated reproduction of these motion components. By using the proposed method, the design procedure of integration of the motion components is very easy, and the saved motion components are integrated smoothly. Performance of the proposed method is compared with the linear interpolation method by experiments, and the validity is confirmed.