Adaptive motion-copying system based on real-world haptics

This paper proposes adaptive motion-copying system, which is capable of storage and reproduction of human motion. In the conventional method, force and position are not reproduced accurately, when the environment in the reproduction phase is different from the environment in the storage phase. To solve this problem, the proposed method reproduces the human motion according to search results provided by environmental search algorithm. Therefore, the force and position corresponding to the stored motion is able to be reproduced even if the environment is changed. By the experiment, validity of the proposed method is verified.