Bilateral force feedback control using multi-degree-of-freedom mobile robot

Naoya Murata, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Remote controlled mobile robots are useful in ultimate environment, such as outer space, disaster site, atomic furnace and so on. There are many researches about mobile robots using audio-visual information, but researches using force sensation is not very studied. The mobile-hapto, which is the remote control system with force information, has been proposed, but the robot used in the system has only two wheels and a caster. So, the robot cannot acquire much information and run over rough road. In this research, first, the multi-degree-of-freedom mobile robot, which is a three-wheeled robot, has been developed. It has a rotary motor in each wheel and a linear motor between body and each wheel. It can acquire horizontal and vertical information. Second, remote control with force feedback of the multi-degree-of-freedom mobile robot using joystick-form control system was realized. The validity of this system is confirmed by an experiment.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1041-1046
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

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Keywords

  • Acceleration Control
  • Bilateral Control
  • Disturbance Observer
  • Mobile Robot
  • Motion Control
  • Real-World Haptics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Murata, N., & Katsura, S. (2011). Bilateral force feedback control using multi-degree-of-freedom mobile robot. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1041-1046). [6060662] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).