TY - GEN
T1 - Mobile-hapto with yaw rate control for traveling on rough terrain
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2010/12/1
Y1 - 2010/12/1
N2 - In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.
AB - In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.
UR - http://www.scopus.com/inward/record.url?scp=78751548977&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751548977&partnerID=8YFLogxK
U2 - 10.1109/IECON.2010.5675449
DO - 10.1109/IECON.2010.5675449
M3 - Conference contribution
AN - SCOPUS:78751548977
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1565
EP - 1570
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -