Estimation and share of environmental impedance using multiple robots for haptic broadcasting

Kazuya Kitamura, Daisuke Yashiro, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Bilateral control system has been developed as a method to transmit tactile sense in order to be applied to handling radioactive material, operating unmanned underwater vehicles, space robotics, telesurgery, etc. Bilateral control system is able to transmit tactile sense to only one operator. To transmit tactile sense to multiple operators, multilateral control was expanded from bilateral control. However, tactile sense of environment which general multilateral control system transmits to an operator is significantly affected by other operators' motion. This paper proposes a novel control system which transmits environmental impedance to multiple operators. The proposed system uses master-slave system consisting of multiple master robots and a single slave robot. Both position and force information is transmitted bi-directionally between each master robot and a slave in the proposed system, whereas the information is transmitted among all robots in general multilateral control system. In addition, a method to estimate environmental impedance given by spring-damper model is proposed, since the proposed control system requires real-time estimation of environmental impedance. The validity of the proposed system is confirmed by simulation and experiment.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs
Publication statusPublished - 2009 Jul 17
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Kitamura, K., Yashiro, D., & Ohnishi, K. (2009). Estimation and share of environmental impedance using multiple robots for haptic broadcasting. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 [4939654] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939654