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A four channel bilateral control is one of the teleoperation techniques. In this control, position control system and force control system should be decoupled precisely. However, there is some interference between position control and force control, if the inertia of the master robot is different from slave side. In this paper, a diagonalization method using modal space observer is proposed for the...
Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain...
Tendon-driven rotary actuators are utilized for bilateral control. However, tendon-driven systems have a problem. When force is applied to wires, polyethylene lines are extended. In this paper, a model-based compensation method of the wire elongation for tendon-driven rotary actuators is proposed. In proposed method, the wires are modeled based on Voigt model which is composed of an elastic spring...
In recent years, humanoid robot has been expected in various fields because of the shape and architecture of humanoid robot and aging of society. It is important that robot does not harm human so that we coexist with robot. Therefore, a lot of researchers have studied about falling down. Zero-Moment Point (ZMP) is most widely used as a stability indicator of biped robot. ZMP, however, is not unsuitable...
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