Mobile-hapto with yaw rate control for traveling on rough terrain

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1109/IECON.2010.5675449

Mobile-hapto with yaw rate control for traveling on rough terrain

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.

Original language	English
Title of host publication	Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages	1565-1570
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2010.5675449
Publication status	Published - 2010 Dec 1
Event	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: 2010 Nov 7 → 2010 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Country/Territory	United States
City	Glendale, AZ
Period	10/11/7 → 10/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2010.5675449

Cite this

Mobile-hapto with yaw rate control for traveling on rough terrain. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.
Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. p. 1565-1570 5675449 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakaino, S, Sato, T & Ohnishi, K 2010, Mobile-hapto with yaw rate control for traveling on rough terrain. in Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society., 5675449, IECON Proceedings (Industrial Electronics Conference), pp. 1565-1570, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675449

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AB - In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.

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Mobile-hapto with yaw rate control for traveling on rough terrain

Abstract

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