@article{96f98c4c048243fd996988d269407c80,
title = "Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme",
abstract = "This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.",
keywords = "Bilateral control, discrete Fourier transform (DFT), disturbance observer (DOB), grasping control, haptics, multilateral control",
author = "Ryogo Kubo and Tomoyuki Shimono and Kouhei Ohnishi and Ryogo Kubo",
note = "Funding Information: Manuscript received January 28, 2008; revised September 9, 2008. First published October 31, 2008; current version published December 30, 2008. This work was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (A), 17206027, 2005. This paper was presented in part at the IEEE International Conference on Industrial Technology, Mumbai, India, December 15–17, 2006.",
year = "2009",
month = jan,
doi = "10.1109/TIE.2008.2007010",
language = "English",
volume = "56",
pages = "62--68",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "1",
}