| 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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| 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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