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

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1565-1570
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

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 (pp. 1565-1570). [5675449] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675449