Development of Bilateral Teleoperation System with Composite Sensory Assist
| Project/Area Number |
24760239
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Mie University |
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Principal Investigator |
YASHIRO Daisuke 三重大学, 工学(系)研究科(研究院), 助教 (60607323)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2015: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | モーションコントロール / ハプティクス / バイラテラル遠隔操作 / ロボティクス / バイラテラル制御 / 触覚 / ネットワーク化制御 |
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| Outline of Final Research Achievements |
This research succeeds in improving the performance of bilateral teleoperation system which consists of a master robot and a slave robot. Specifically, three novel functions A, B, C are added to bilateral control system. A) a coding/encoding algorithm, a delay compensator, a communication protocol for bilateral teleoperation are developed, and the performance of the system is improved. B) An algorithm which estimates states of operators and manipulated objects based on visual information and haptic information is developed. C) A method to assist an operator automatically based on estimated states is developed.
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Report
(4 results)
Research Products
(43 results)
