Evaluation of maneuverability in teleoperation based on operational effort

Akihiko Yamamuro, Kazuki Tanida, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases the operational force and deteriorates a operational ease. However, the deterioration of the operational ease can't be evaluated because there is no index until now. This paper proposed maneuverability as a new index of operational ease in teleoperation. Maneuverability is evaluated based on operational effort. By using this index, the appropriate teleoperation system can be determined in view of operational ease. Then, frequency domain dimensional scaling bilateral control (FDDBC) is designed to reduce operational effort. 5 types of control method including FDDBC are compared by using maneuverbility and the effectiveness of the proposed index is verified through the experiments.

本文言語English
ホスト出版物のタイトルProceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ343-348
ページ数6
ISBN(電子版)9781479966493
DOI
出版ステータスPublished - 2015 9 28
イベント13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom
継続期間: 2015 7 222015 7 24

出版物シリーズ

名前Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015

Other

Other13th International Conference on Industrial Informatics, INDIN 2015
国/地域United Kingdom
CityCambridge
Period15/7/2215/7/24

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 産業および生産工学
  • 器械工学
  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

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