Bilateral control of walking haptic system

Kazuki Nagase, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages387-392
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
CountryUnited States
CityAuburn, AL
Period11/3/1411/3/16

Fingerprint

Control systems
Transparency
Wheels
Availability
Robots
Feedback

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Nagase, K., & Katsura, S. (2011). Bilateral control of walking haptic system. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 387-392). [5754408] https://doi.org/10.1109/ICIT.2011.5754408

Bilateral control of walking haptic system. / Nagase, Kazuki; Katsura, Seiichiro.

Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 387-392 5754408.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagase, K & Katsura, S 2011, Bilateral control of walking haptic system. in Proceedings of the IEEE International Conference on Industrial Technology., 5754408, pp. 387-392, 2011 IEEE International Conference on Industrial Technology, ICIT 2011, Auburn, AL, United States, 11/3/14. https://doi.org/10.1109/ICIT.2011.5754408
Nagase K, Katsura S. Bilateral control of walking haptic system. In Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 387-392. 5754408 https://doi.org/10.1109/ICIT.2011.5754408
Nagase, Kazuki ; Katsura, Seiichiro. / Bilateral control of walking haptic system. Proceedings of the IEEE International Conference on Industrial Technology. 2011. pp. 387-392
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