Bilateral control with communication time delay by using motion copying system

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)


In order to realize communication and broadcasting of haptic information, bilateral control with communication time delay is important element. The paper proposes a novel bilateral control method for communication time delay. To compensate the effect of communication time delay, the proposed method applies a motion copying system. The motion copying system is able to save and reproduce motion of human operator. The reproduced position and force by the motion copying system corresponds to saved position and force. The motion copying system copies local motion to other side, in order to realize compensation of communication time delay. The paper confirms that the communication time delay compensation using the motion copying system normally operates. The viability of the proposed method is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781424417667
Publication statusPublished - 2008 Jan 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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