TY - GEN
T1 - Bilateral teleoperation with dimensional scaling for realization of mobile-hapto
AU - Yamanouchi, Wataru
AU - Yokokura, Yuki
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2008
Y1 - 2008
N2 - Multimedia technology has been widely spread as the basis for human communications. For example, telephone, television and radio broadcasting are good tools for remote communication. Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute humans eyes and ears. Haptic information has paid attention as the third multimedia information. Especially a transmission technique of real-world haptic information is demanded. This paper proposes a novel haptic transmission in different motion area, named "mobile-hapto". The "mobilehapto" consists of a mobile robot and a joystick. A mobile robot has infinite area for its motion. On the contrary, a joystick is fixed for operation by a human. To transmit haptic information in the "mobile-hapto", bilateral control with dimension scaling is proposed. As a result, intuitive manipulation becomes possible by using the "mobile-hapto". Effectiveness of the proposed method is verified by experimental results.
AB - Multimedia technology has been widely spread as the basis for human communications. For example, telephone, television and radio broadcasting are good tools for remote communication. Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute humans eyes and ears. Haptic information has paid attention as the third multimedia information. Especially a transmission technique of real-world haptic information is demanded. This paper proposes a novel haptic transmission in different motion area, named "mobile-hapto". The "mobilehapto" consists of a mobile robot and a joystick. A mobile robot has infinite area for its motion. On the contrary, a joystick is fixed for operation by a human. To transmit haptic information in the "mobile-hapto", bilateral control with dimension scaling is proposed. As a result, intuitive manipulation becomes possible by using the "mobile-hapto". Effectiveness of the proposed method is verified by experimental results.
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U2 - 10.1109/IECON.2008.4758191
DO - 10.1109/IECON.2008.4758191
M3 - Conference contribution
AN - SCOPUS:63149188151
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1590
EP - 1595
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Y2 - 10 November 2008 through 13 November 2008
ER -