Multi-DOF micro-macro bilateral controller using oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

96 Citations (Scopus)


In this study, we show that tasks can be realized by appropriate coordinate transformation. This approach, oblique coordinate control, decouples tasks. Even though a system is large, they can be designed by a combination of small tasks. Therefore, tasks can be regarded as reusable components. In this study, micro-macro bilateral control is achieved as a complicated task. Small objects can be manipulated as large objects in micro-macro bilateral control. However, ideal micro-macro bilateral controllers are usually derived only for single-degree-of-freedom (DOF) systems. Then, we propose a micro-macro bilateral controller for multi-DOF on the basis of oblique coordinate control. To obtain multi-DOF bilateral control, we first derive control goals as kinematic relations. This study also considers the case where scaling gains of position and force are selected in a different manner. The goals of micro-macro bilateral control are then controlled by oblique coordinate control. The validity of the proposed method is experimentally verified.

Original languageEnglish
Article number5944998
Pages (from-to)446-454
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number3
Publication statusPublished - 2011 Aug
Externally publishedYes


  • Acceleration control
  • bilateral control
  • haptics
  • micro-macro bilateral control
  • oblique coordinate control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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