NDLI: Realization of storage and reproduction of water pouring task based on controlled variable of task

Content Provider	IEEE Xplore Digital Library
Author	Hiramatsu, D. Shimono, T. Kawamura, A. Nozaki, T. Asano, Y.
Copyright Year	2015
Description	Author affiliation: Dept. of Phys., Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan (Hiramatsu, D.; Shimono, T.; Kawamura, A.) \|\| Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Nozaki, T.) \|\| Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Chiba, Japan (Asano, Y.)
Abstract	Conventional methods for storing and reproducing task are based on only the information of the actuators in the robot. However, in these methods, reproducing the stored task is difficult when the environment differs from that in storing phase. This is because these methods consider a meaningful task as just a motion. In this paper, to reproduce a stored task even if the environment differs from that in storing phase, storage and reproduction of a task based on the controlled variable of a task is proposed. To verify the principle of this proposal, the water pouring task is considered. The proposed method can reproduce the water pouring task even if the initial weight of the water in the bottle differs from that in storing phase. The validity of the proposal is confirmed by experiments using one degree-of-freedom robots.
Sponsorship	IEEE
Starting Page	004223
Ending Page	004228
File Size	2010259
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392758
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Torque Proposals Observers Trajectory Force
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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