Bilateral Force Feedback Control with Different Configurations Based on Dimensional Scaling for Realization of Mobile-Hapto

Abstract

Recent advances in control technology have contributed to the development of robot systems for communication with humans. Robot systems recognize the environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Recently, haptic information has attracted attention as the third type of multimedia information. This paper proposes a force feedback method for systems with different motion areas, named “mobile-hapto”. Sense of touch is useful for remote manipulation. The mobile-hapto consists of a mobile robot with an infinite area for motion and a joystick that is fixed at a given position and can be operated manually. To realize of force feedback in the “mobile-hapto”, bilateral control with dimensional scaling is proposed. In this case, intuitive manipulation becomes possible when using the “mobile-hapto”. The effectiveness of the proposed method is verified by experimental results.