Energy bilateral control for a new control scheme

Yoshitaka Abe, Seiichiro Katsura

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

Abstract

Bilateral control enables human to transmit body sensation to remote area. Bilateral control gives a sense of existing without movement of body, and realizes pseudo-teleportation to everywhere. Bilateral control technology produces a sense of expansion of a body, so this technology is needed to apply to multi-DOF or non-mechanical systems. To expand the range of application, the scheme of bilateral control needs to be more general. The basic law of energy bilateral control is energy conservation law, which is the first principle for all physical systems. This paper proposes energy bilateral control as a generalized bilateral control. Energy bilateral control is an explicit energy control, which enables different structural systems to be implented bilateral control. Energy bilateral control also show a new interpretation about bilateral control: hybrid of internal energy and power flow control. The effectiveness of the proposed methods is verified by experimental results.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6120-6125
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Abe, Y., & Katsura, S. (2013). Energy bilateral control for a new control scheme. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6120-6125). [6700141] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700141