TY - GEN
T1 - Bilateral control using compressor/decompressor under the low-rate communication network
AU - Yokokura, Yuki
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2009/7/17
Y1 - 2009/7/17
N2 - The paper proposes the transfer technique of haptic information under the narrow-band network. The bilateral controller through the low-rate network encounters the influence. In this paper, the compressors and the decompressors is implemented to the bilateral controller based on a motion copying system in order to solve the problems. The data compressors reduce an amount of the data, which flows between a master system and a slave system in the bilateral controller. The reaction force between the master and the slave becomes stable even if the data transfer rate is low in the network. The paper confirms that the bilateral controller using the compressors and the decompressors normally operates. The viability of the proposed method is confirmed by experiments.
AB - The paper proposes the transfer technique of haptic information under the narrow-band network. The bilateral controller through the low-rate network encounters the influence. In this paper, the compressors and the decompressors is implemented to the bilateral controller based on a motion copying system in order to solve the problems. The data compressors reduce an amount of the data, which flows between a master system and a slave system in the bilateral controller. The reaction force between the master and the slave becomes stable even if the data transfer rate is low in the network. The paper confirms that the bilateral controller using the compressors and the decompressors normally operates. The viability of the proposed method is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=67650317715&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650317715&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2009.4957189
DO - 10.1109/ICMECH.2009.4957189
M3 - Conference contribution
AN - SCOPUS:67650317715
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -