A bilateral teleoperation method using an autonomous control based on DFT modal decomposition

Keiichi Taguchi, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)


In these days, bilateral control is utilized for various scenes such as remote surgery, work in the space, nuclear plants, and so on. But in these cases, there is a dangerousness, for example a fragile organ. These environments are able to be broken or lost its plastic behavior with the excessive force. So there is a necessity to avoid this excessive force. This paper proposes a method of autonomous hazard avoidance control based on DFT modal decomposition. This control system consists of bilateral control based on acceleration control with disturbance observer and variable compliance control. During safe operation, bilateral control works and during dangerous operation, the control so as to avoid dangerous operation works. In order to decide the degree of operation risk in slave side, fuzzy algorithm based on the grasping force added to the environment is utilized. And in order to extract the grasping force, discrete fourier transform is utilized. If the operation is dangerous, operator feels the force to adjust excessive grasping force to the proper grasping force by the force filter. The validity of the proposed method is confirmed by the experimental results.

ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
出版ステータスPublished - 2008 1月 1


名前IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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