TY - GEN
T1 - Bilateral control of walking haptic system
AU - Nagase, Kazuki
AU - Katsura, Seiichiro
PY - 2011/5/18
Y1 - 2011/5/18
N2 - In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.
AB - In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=79955941534&partnerID=8YFLogxK
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U2 - 10.1109/ICIT.2011.5754408
DO - 10.1109/ICIT.2011.5754408
M3 - Conference contribution
AN - SCOPUS:79955941534
SN - 9781424490660
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 387
EP - 392
BT - Proceedings - ICIT 2011
T2 - 2011 IEEE International Conference on Industrial Technology, ICIT 2011
Y2 - 14 March 2011 through 16 March 2011
ER -