Manipulation of the object in the virtual and the real environment using reference dynamics for the task

Kazuhiro Kosuge, Koji Takeo

Research output: Contribution to conferencePaper

Abstract

In this paper, we consider dynamic characteristics of the teleoperation system for execute tasks efficiently. We define such dynamic characteristics as 'Reference Dynamics' for the task and we consider to design a control scheme for the teleoperation system that the system has the Reference Dynamics for both the virtual and the real environment. By designing the control scheme so that the master and slave arm has the same dynamic characteristics, the operator's strategy extracted from the operation of the virtual environment would be applied to the real task directly. The proposed system is applied to an experimental manipulator system and experimental results illustrate the validity of the system.

Original languageEnglish
Pages36-41
Number of pages6
Publication statusPublished - 1995 Dec 1
EventProceedings of the 1995 4th IEEE International Workshop on Robot and Human Communication, RO-MAN - Tokyo, Jpn
Duration: 1995 Jul 51995 Jul 7

Other

OtherProceedings of the 1995 4th IEEE International Workshop on Robot and Human Communication, RO-MAN
CityTokyo, Jpn
Period95/7/595/7/7

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software

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    Kosuge, K., & Takeo, K. (1995). Manipulation of the object in the virtual and the real environment using reference dynamics for the task. 36-41. Paper presented at Proceedings of the 1995 4th IEEE International Workshop on Robot and Human Communication, RO-MAN, Tokyo, Jpn, .