Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Toshiyuki Murao, Hiroyuki Kawai, Yusei Tsuruo, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages623-630
Number of pages8
ISBN (Print)9781479915590
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad
Duration: 2013 Aug 282013 Aug 30

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
CityHyderabad
Period13/8/2813/8/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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  • Cite this

    Murao, T., Kawai, H., Tsuruo, Y., & Fujita, M. (2013). Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. In Proceedings of the IEEE International Conference on Control Applications (pp. 623-630). [6662819] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2013.6662819