Bilateral control of walking haptic system

Kazuki Nagase, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)


In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.

ホスト出版物のタイトルProceedings - ICIT 2011
ホスト出版物のサブタイトル2011 IEEE International Conference on Industrial Technology
出版ステータスPublished - 2011 5月 18
イベント2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
継続期間: 2011 3月 142011 3月 16


名前Proceedings of the IEEE International Conference on Industrial Technology


Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
国/地域United States
CityAuburn, AL

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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