車両型テレモビリティシステムのためのバイラテラル力覚フィードバック制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/08/01

タイトル(英語): Bilateral Force Feedback Control for a Vehicle-Type Tele-Mobility System

著者名: 永瀬　一貴（慶應義塾大学理工学部システムデザイン工学科），萬　修太郎（慶應義塾大学理工学部システムデザイン工学科），小杉　貴洸（慶應義塾大学理工学部システムデザイン工学科），横倉　勇希（長岡技術科学大学），桂　誠一郎（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Kazuki Nagase (Department of System Design Engineering, Keio University), Shutaro Yorozu (Department of System Design Engineering, Keio University), Takahiro Kosugi (Department of System Design Engineering, Keio University), Yuki Yokokura (Nagaoka University of Technology), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: 実世界ハプティクス，遠隔操作，モバイルロボット，力覚フィードバック，次元スケーリング　　real-world haptics，remote control，mobile robot，force feedback，dimensional scaling

要約(英語): This paper discusses the development of a vehicle-type tele-mobility system, and proposes a novel control structure on the basis of bilateral control with dimensional scaling taking into account a braking effect. In the field of teleoperations of mobile systems, information on work objects at a remote site is necessary for precise and safe manipulations. Conventionally, audiovisual information is fed back to the operators. However, these approaches cannot fully deal with contact conditions owing to the lack of force information. To tackle this problem, a mobile-hapto has been proposed. In the configuration of this system, the master system is a joystick, whereas the slave system is a mobile robot. From the standpoint of the operability of mobile robots, the master system should comprise not only joysticks but also pedals and steering handle, similar to automobile systems. Furthermore, for actual manipulations, visual information is essential in addition to force information. The proposed system addresses the above requirements, and it is expected that the functionality of the mobile robot systems will be enhanced and facilitated. The applicability of the developed system and the proposed control structure are experimentally confirmed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.8 （2013）

本誌掲載ページ: 795-803 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/8/133_795/_article/-char/ja/