TY - GEN
T1 - Bilateral force feedback control using multi-degree-of-freedom mobile robot
AU - Murata, Naoya
AU - Katsura, Seiichiro
PY - 2011/1/1
Y1 - 2011/1/1
N2 - Remote controlled mobile robots are useful in ultimate environment, such as outer space, disaster site, atomic furnace and so on. There are many researches about mobile robots using audio-visual information, but researches using force sensation is not very studied. The mobile-hapto, which is the remote control system with force information, has been proposed, but the robot used in the system has only two wheels and a caster. So, the robot cannot acquire much information and run over rough road. In this research, first, the multi-degree-of-freedom mobile robot, which is a three-wheeled robot, has been developed. It has a rotary motor in each wheel and a linear motor between body and each wheel. It can acquire horizontal and vertical information. Second, remote control with force feedback of the multi-degree-of-freedom mobile robot using joystick-form control system was realized. The validity of this system is confirmed by an experiment.
AB - Remote controlled mobile robots are useful in ultimate environment, such as outer space, disaster site, atomic furnace and so on. There are many researches about mobile robots using audio-visual information, but researches using force sensation is not very studied. The mobile-hapto, which is the remote control system with force information, has been proposed, but the robot used in the system has only two wheels and a caster. So, the robot cannot acquire much information and run over rough road. In this research, first, the multi-degree-of-freedom mobile robot, which is a three-wheeled robot, has been developed. It has a rotary motor in each wheel and a linear motor between body and each wheel. It can acquire horizontal and vertical information. Second, remote control with force feedback of the multi-degree-of-freedom mobile robot using joystick-form control system was realized. The validity of this system is confirmed by an experiment.
KW - Acceleration Control
KW - Bilateral Control
KW - Disturbance Observer
KW - Mobile Robot
KW - Motion Control
KW - Real-World Haptics
UR - http://www.scopus.com/inward/record.url?scp=81255128202&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=81255128202&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:81255128202
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1041
EP - 1046
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -