行走触觉系统的双侧控制

Kazuki Nagase, S. Katsura
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引用次数: 2

摘要

近年来,通过使用双边控制系统,可以在遥远的地方进行高精度工作。一般的主从系统是不可移动的,因为它们有一定的约束条件。为了在人类生活空间的大范围内实现操作,提出了一种移动的主从系统——移动hapto。移动-hapto的运动方式是通过车轮来实现的。然而,两足动物适合人类居住的空间。为此,提出了一种用于双足机器人远程操作的行走感觉反馈系统。在研究中,控制系统是在四通道双边控制系统的基础上设计的。提高了操作的可操作性。人们对控制系统的透明度没有争论。为了验证外力是否反馈给了算子,本文推导了控制系统的混合矩阵。最后,通过实验验证了控制系统的有效性。
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Bilateral control of walking haptic system
In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.
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