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In this paper, mobile-hapto is analyzed, which is a remote control system that enables the realization of two tasks: velocity control of a mobile robot and force transmission between a handle robot and a mobile robot. To date, there have been no analyses of mobile-hapto because of the fact that the dynamics of mobile-hapto is difficult to derive without the motion equation proposed in our previous...
In this study, we propose velocity constrained mobile-hapto by coordinate transformation. Mobile-hapto is a remote control system that enables two requirements: velocity of a mobile robot is controlled by a handle robot and the reaction force of the mobile robot is fed back to the handle robot. In practice, designers have to assure safety of mobile robots because mobile robots are located in a remote...
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...
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force...
A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations...
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