Null-space control considering environment condition in bilateral teleoperation

Takeshi Okura, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.

本文言語English
ホスト出版物のタイトルProceedings - ICIT 2011
ホスト出版物のサブタイトル2011 IEEE International Conference on Industrial Technology
ページ399-404
ページ数6
DOI
出版ステータスPublished - 2011 5月 18
イベント2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
継続期間: 2011 3月 142011 3月 16

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
国/地域United States
CityAuburn, AL
Period11/3/1411/3/16

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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