Motion control of soil removing operation for teleoperation based demining system

Erdene Damdinsuren, Kazuhiro Kosuge, Zhi Dong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper we propose a new bilateral teleoperation based soil removing technique for demining system with a geometric virtual wall concept. The virtual wall model is incorporated with bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm is experimentally applied to a bilateral telemanipulation system and the experimental result shows that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics
Pages13-18
Number of pages6
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Workshop on Safety, Security and Rescue Robotics - Kobe, Japan
Duration: 2005 Jun 62005 Jun 6

Publication series

NameProceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics
Volume2005

Other

Other2005 IEEE International Workshop on Safety, Security and Rescue Robotics
Country/TerritoryJapan
CityKobe
Period05/6/605/6/6

ASJC Scopus subject areas

  • Engineering(all)

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