An object-coordinate-based bilateral control system using visual information

Yu Nakajima, Takahiro Nozaki, Yuji Oyamada, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1-DOF master robot and a 2-DOF slave robot.

Original languageEnglish
Pages (from-to)41-49
Number of pages9
JournalElectronics and Communications in Japan
Volume96
Issue number8
DOIs
Publication statusPublished - 2013 Aug

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Keywords

  • bilateral control
  • computer vision
  • haptics
  • master-slave system
  • posture estimation
  • visual servo

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

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