Bilateral teleoperation in physical support for human

Kouhei Ohnishi

研究成果: Conference contribution

抄録

Robots and intelligent machines in future should be autonomous in open situation to realize physical support for human. Since they intend to adapt themselves to unstructured environment, more complicated behaviors are needed. Controlled touching motion is one of the most important actions for the purpose. Haptics for real-world will treat such issues. Teleoperation with haptic realization will be a future target. Touching motion is inherently bilateral, since an action is always accompanied by a reaction. That means the artificial realization of touching needs very fast controller to keep the time-delay as small as possible. Not only time delay but also frequency range of force signal is important for vivid sensation. The acceleration controller brings wide-band controller which satisfies above requirements. The bilateral control with high transparency realizes the haptic database. By using bilateral preservation of action and reaction, it is possible to realize the individual's skill acquisition, skill training, skill transfer to the robots, haptic broadcasting, and so on. Furthermore, in order to support for human activities in remote environment, bilateral teleoperation over Internet is also one of the important issues. The paper shows that the acceleration-based bilateral teleoperation with a disturbance observer has robustness against even the communication delay.

本文言語English
ホスト出版物のタイトルProceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST 07
出版社Taylor and Francis/ Balkema
ページ55-62
ページ数8
ISBN(印刷版)9780415468459
DOI
出版ステータスPublished - 2008 1月 1
イベントWorld Forum on Smart Materials and Smart Structures Technology, SMSST 07 - Chongqing, Nanjing, China
継続期間: 2007 5月 222007 5月 27

出版物シリーズ

名前Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07

Other

OtherWorld Forum on Smart Materials and Smart Structures Technology, SMSST 07
国/地域China
CityChongqing, Nanjing
Period07/5/2207/5/27

ASJC Scopus subject areas

  • 土木構造工学
  • 電子工学および電気工学

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