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A hybrid remote manipulation system has good transparency between master and slave systems under time delay. In this paper, we propose new adaptive environment observer using time-scale transformation for a hybrid remote manipulation system. Time-scale transformation compensates for nonlinearities in the observer, and we can design parameters of the observer by pole placements. The proposed observer...
We propose a remote bilateral control method of master-slave manipulators with an environment observer. The adaptive environment observer estimates characteristics of the environment in a remote place. Thus, the system predicts a virtual environment that is generated by a real environment. The proposed system exhibits good operatability and tracking when the slave system presses a compliant wall under...
Dead reckoning and star reckoning are two basic self-localization methods for vehicles, but each method has inherent weakness. To recover these weaknesses, sensor-fusion via an initial state observer has proposed. However, the method can be applied under the assumption that the vehicles move in the limited field. In this paper, we propose a new sensor- fusion method by using a grid point observer...
We propose a remote bilateral control method of master-slave manipulators with an environment observer. The environment observer estimates parameters of an environment model of a remote place. The proposed system shows a good performance when the slave manipulator presses a compliant wall. We confirm the effectiveness of the proposed system by experiments.
In this paper, we introduce a sensor fusion method for position locations of mobile robots using an initial state observer and propose a gain calculation method. We confirm the effectiveness of the proposed method by experiments. Experimental results illustrate the initial state observer based sensor fusion method with proposed gain calculation method has almost the same performance as EKF. Moreover,...
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