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 publicationProceedings of the SICE Annual Conference
Pages1041-1046
Number of pages6
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Other

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

Fingerprint

Force control
Degrees of freedom (mechanics)
Mobile robots
Feedback control
Wheels
Robots
Remote control
Control systems
Linear motors
Disasters
Furnaces
Feedback
Experiments

Keywords

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

ASJC Scopus subject areas

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

Cite this

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

Bilateral force feedback control using multi-degree-of-freedom mobile robot. / Murata, Naoya; Katsura, Seiichiro.

Proceedings of the SICE Annual Conference. 2011. p. 1041-1046 6060662.

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

Murata, N & Katsura, S 2011, Bilateral force feedback control using multi-degree-of-freedom mobile robot. in Proceedings of the SICE Annual Conference., 6060662, pp. 1041-1046, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 11/9/13.
Murata N, Katsura S. Bilateral force feedback control using multi-degree-of-freedom mobile robot. In Proceedings of the SICE Annual Conference. 2011. p. 1041-1046. 6060662
Murata, Naoya ; Katsura, Seiichiro. / Bilateral force feedback control using multi-degree-of-freedom mobile robot. Proceedings of the SICE Annual Conference. 2011. pp. 1041-1046
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