Bilateral control of walking haptic system

Kazuki Nagase, Seiichiro Katsura

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

1 Citation (Scopus)


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 - ICIT 2011
Subtitle of host publication2011 IEEE International Conference on Industrial Technology
Number of pages6
Publication statusPublished - 2011 May 18
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology


Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
Country/TerritoryUnited States
CityAuburn, AL

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering


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