Improvement of free motion operability for slave robot with underactuated joint in bilateral system

Kiyotoshi Komuta, Toshiyuki Murakami

Research output: Contribution to journalArticle


The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. In order to solve this problem, a two-wheel driven mobile manipulator is used as a slave robot in this research. This robot has excellent mobility, and it can turn on the spot and overcome a step. However, the robot is unstable because it lacks casters. If the robot tends to be unstable, it naturally cannot achieve bilateral control. Therefore, in this study, a method that takes into considering the stability of the two-wheel driven mobile manipulator is proposed. The experimental results confirm the efficiency of the proposed method.

Original languageEnglish
Pages (from-to)771-779+1
Journalieej transactions on industry applications
Issue number8
Publication statusPublished - 2013 Sep 3



  • Bilateral system
  • Null space control
  • Operability
  • Two-Wheel driven mobile manipulator
  • Underactuated mechanism

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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