全方向移動ロボットを用いたバイラテラル遠隔制御システムの構築

抄録

The research on force sensing communication technology using haptic devices over the Internet has been actively carried out. So as to realize communication using the sense of force between remote areas, we have developed a system that can stably control bilateral in an environment with communication delays. In order to construct a position, posture, and force-sharing system using an omni-directional mobile robot and to perform bilateral control, we fabricated an omni-directional mobile robot. In the force-sharing system, the effectiveness of the wave filter and scattering matrix was evaluated by simulation with/without the wave filter and scattering matrix.