A novel motion equation for general task description and analysis of mobile-hapto

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


In this paper, mobile-hapto is analyzed, which is a remote control system that enables the realization of two tasks: velocity control of a mobile robot and force transmission between a handle robot and a mobile robot. To date, there have been no analyses of mobile-hapto because of the fact that the dynamics of mobile-hapto is difficult to derive without the motion equation proposed in our previous study. This motion equation, in turn, allowed for the proposal of a stable mobile-hapto controller. In this paper, the proposed mobile-hapto controller is analytically compared to a conventional mobile-hapto controller. The results show that decoupled tasks can be obtained only in the proposed method. We also show the robustness of the proposed method. To confirm the validity of the proposed method, the proposed controller is experimentally compared to the conventional controller. This is the foremost study on the analysis and experimental comparison of mobile-hapto. Consequently, the usefulness of the proposed motion equation is shown.

Original languageEnglish
Article number6189072
Pages (from-to)2673-2680
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number7
Publication statusPublished - 2013
Externally publishedYes


  • Bilateral control
  • haptics
  • mobile-hapto
  • motion equation
  • port-controlled Hamiltonian system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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