Virtual elastic wall based motion control for teleoperated demining system

Erdene Damdinsuren, Kazuhiro Kosuge, Zhi Dong Wang, Yasuhisa Hirata

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

2 Citations (Scopus)

Abstract

In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed 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 publicationIEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages1666-1671
Number of pages6
Publication statusPublished - 2005
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada
Duration: 2005 Jul 292005 Aug 1

Publication series

NameIEEE International Conference on Mechatronics and Automation, ICMA 2005

Other

OtherIEEE International Conference on Mechatronics and Automation, ICMA 2005
CountryCanada
CityNiagara Falls, ON
Period05/7/2905/8/1

Keywords

  • Landmine
  • Teleoperation
  • Virtual wall

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Virtual elastic wall based motion control for teleoperated demining system'. Together they form a unique fingerprint.

Cite this