Development of Bilateral Teleoperation System with Composite Sensory Assist

2014 Fiscal Year Final Research Report

• Project/Area Number: 24760239
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Mie University
• Principal Investigator: YASHIRO Daisuke 三重大学, 工学(系)研究科(研究院), 助教 (60607323)
• Project Period (FY): 2012-04-01 – 2015-03-31
• 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

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.

Free Research Field

工学