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Paper Abstract and Keywords
Presentation 2019-10-11 11:35
Effect of Adaptive ∆-Causality Control for Cooperation between Remote Robot Systems with Force Feedback -- Case Where Robots have Equal Relationship --
Kazuya Kanaishi, Yutaka Ishibashi (NITech), Pingguo Huang (Seijoh Univ.), Yuichiro Tateiwa (NITech) NS2019-119
Abstract (in Japanese) (See Japanese page) 
(in English) In this report, we investigate the effect of the adaptive ∆-causality control for cooperation between two remote robot systems with force feedback which have an equal relationship by experiment. In each remote robot system, a user can operate a remote industrial robot with a force sensor while watching video by using a haptic interface device. The adaptive Δ-causality control sends the position information which the system transmits to the robot to the other system and delays the transmission to the robot by the network delay between the systems. In the experiment, the two systems handle work of carrying an object held by the two robot arms as cooperative work, and the adaptive Δ-causality control is applied to each system. Then, a threshold value is used to determine the operation direction of the robot arm. If the robot arm is operated in a different direction from the current direction for a period longer than the threshold value, the operation direction is changed to the direction. Experimental results show that there exists the optimum threshold value.
Keyword (in Japanese) (See Japanese page) 
(in English) Remote robot system / Remote control / Force feedback / Cooperative work / QoS / / /  
Reference Info. IEICE Tech. Rep., vol. 119, no. 221, NS2019-119, pp. 87-92, Oct. 2019.
Paper # NS2019-119 
Date of Issue 2019-10-03 (NS) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NS2019-119

Conference Information
Committee NS  
Conference Date 2019-10-10 - 2019-10-11 
Place (in Japanese) (See Japanese page) 
Place (in English) Nagoya Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Network architecture (Overlay, P2P, Ubiquitous network, Scale-free network, Active network, NGN/NwGN, IoT, Edge computing, Next generation packet transport (High speed Ethernet, IP over WDM, Multi-service package technology, MPLS), Grid, etc. 
Paper Information
Registration To NS 
Conference Code 2019-10-NS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Effect of Adaptive ∆-Causality Control for Cooperation between Remote Robot Systems with Force Feedback 
Sub Title (in English) Case Where Robots have Equal Relationship 
Keyword(1) Remote robot system  
Keyword(2) Remote control  
Keyword(3) Force feedback  
Keyword(4) Cooperative work  
Keyword(5) QoS  
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1st Author's Name Kazuya Kanaishi  
1st Author's Affiliation Nagoya Institute of Technology (NITech)
2nd Author's Name Yutaka Ishibashi  
2nd Author's Affiliation Nagoya Institute of Technology (NITech)
3rd Author's Name Pingguo Huang  
3rd Author's Affiliation Seijoh University (Seijoh Univ.)
4th Author's Name Yuichiro Tateiwa  
4th Author's Affiliation Nagoya Institute of Technology (NITech)
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Speaker Author-1 
Date Time 2019-10-11 11:35:00 
Presentation Time 25 minutes 
Registration for NS 
Paper # NS2019-119 
Volume (vol) vol.119 
Number (no) no.221 
Page pp.87-92 
#Pages 6 
Date of Issue 2019-10-03 (NS) 

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