Gravity compensation for improvement of operationarity in bilateral teleoperation

Takayoshi Takei, Tomoyuki Shimono, Ryogo Kubo, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


In this paper, the estimation method of only gravity and the compensation method of only the disturbance caused by gravity are proposed. The proposed method is able to estimate gravity, even when the system has the unknown posture. The proposed method is based on the concept of "environment quarrier". Then, environment quarry is expanded to multilateral control. In this paper, two dummy robots that are the environment quarrier are implemented besides master-slave system, in order to abstract only gravity disturbance. The proposed method is adaptable, even when mass of master system differs from one of slave system. To verify the viability of the proposed method, experimental results are shown.

Original languageEnglish
Pages (from-to)767-774+11
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2008 Dec 1


  • Bilateral control
  • Disturbance observer
  • Environment quarrier
  • Gravity compensation
  • Haptics
  • Multilateral control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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