An object-coordinate-based bilateral control system using visual information

Yu Nakajima, Takahiro Nozaki, Yuji Oyamada, Kouhei Ohnishi

    Research output: Contribution to journalArticle

    2 Citations (Scopus)

    Abstract

    In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1-DOF master robot and a 2-DOF slave robot.

    Original languageEnglish
    Pages (from-to)41-49
    Number of pages9
    JournalElectronics and Communications in Japan
    Volume96
    Issue number8
    DOIs
    Publication statusPublished - 2013 Aug

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    Keywords

    • bilateral control
    • computer vision
    • haptics
    • master-slave system
    • posture estimation
    • visual servo

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Networks and Communications
    • Physics and Astronomy(all)
    • Signal Processing
    • Applied Mathematics

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