Bilateral control with communication time delay by using motion copying system

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Conference contribution

7 被引用数 (Scopus)


In order to realize communication and broadcasting of haptic information, bilateral control with communication time delay is important element. The paper proposes a novel bilateral control method for communication time delay. To compensate the effect of communication time delay, the proposed method applies a motion copying system. The motion copying system is able to save and reproduce motion of human operator. The reproduced position and force by the motion copying system corresponds to saved position and force. The motion copying system copies local motion to other side, in order to realize compensation of communication time delay. The paper confirms that the communication time delay compensation using the motion copying system normally operates. The viability of the proposed method is confirmed by experiments.

ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
出版ステータスPublished - 2008 1月 1


名前IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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