講演抄録/キーワード |
講演名 |
2022-03-09 18:10
Effects of Adaptive Viscoelasticity Control on Cooperative Work in Remote Robot Systems with Force Feedback ○Ruzhou Ye・Yutaka Ishibashi(Nitech)・Pingguo Huang(Gifu Shotoku Gakuen Univ.)・Yuichiro Tateiwa(Nitech) CQ2021-111 |
抄録 |
(和) |
By experiment, this report investigates effects of the adaptive viscoelasticity control, which was previously proposed as QoS (Quality of Service) control to improve remote operations of haptic interface devices, for cooperative work between two remote robot systems with force feedback. In the systems, a single user operates two haptic interface devices with his/her both hands to carry an object grasped by two remote robot arms each of which has a force sensor while watching video. The report also examines the influence of network delay between the two haptic interface devices. Experimental results demonstrate that the adaptive viscoelasticity control can suppress the force applied to the object. |
(英) |
By experiment, this report investigates effects of the adaptive viscoelasticity control, which was previously proposed as QoS (Quality of Service) control to improve remote operations of haptic interface devices, for cooperative work between two remote robot systems with force feedback. In the systems, a single user operates two haptic interface devices with his/her both hands to carry an object grasped by two remote robot arms each of which has a force sensor while watching video. The report also examines the influence of network delay between the two haptic interface devices. Experimental results demonstrate that the adaptive viscoelasticity control can suppress the force applied to the object. |
キーワード |
(和) |
/ / / / / / / |
(英) |
Remote robot systems / Cooperative work / Force feedback / Haptic interface device / QoS control / Viscoelasticity / Network delay / Experiment |
文献情報 |
信学技報, vol. 121, no. 421, CQ2021-111, pp. 61-66, 2022年3月. |
資料番号 |
CQ2021-111 |
発行日 |
2022-03-02 (CQ) |
ISSN |
Online edition: ISSN 2432-6380 |
著作権に ついて |
技術研究報告に掲載された論文の著作権は電子情報通信学会に帰属します.(許諾番号:10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
PDFダウンロード |
CQ2021-111 |
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