全方向移動ロボットを用いた安定的なバイラテラル制御の力覚伝達

抄録

The research on force sensing communication technology using haptic devices over the Internet has been actively carried out. The use of this force information for communication between remote locations has been considered as a possibility for communication with a new sense of presence. In this study, we constructed a bilateral control system that enables people to share the same sense of force between remote locations. A force-sharing system was constructed using contact force, the copy robot's own position, and the master robot's position at each remote location by utilizing visual position feedback from a camera.