Object-coordinate-based bilateral control system using visual information

Yu Nakajima; Takahiro Nozaki; Yuji Oyamada; Kouhei Ohnishi

doi:10.1541/ieejias.132.374

Object-coordinate-based bilateral control system using visual information

Yu Nakajima^*, Takahiro Nozaki, Yuji Oyamada, Kouhei Ohnishi

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using the environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.

Original language	English
Pages (from-to)	374-380
Number of pages	7
Journal	IEEJ Transactions on Industry Applications
Volume	132
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.132.374
Publication status	Published - 2012

Keywords

Bilateral control
Computer vision
Haptics
Master-slave system
Posture estimation
Visual servo

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1541/ieejias.132.374

Cite this

@article{0fa192ecaa8c4893a191bbbfb1548c43,

title = "Object-coordinate-based bilateral control system using visual information",

abstract = "In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using the environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.",

keywords = "Bilateral control, Computer vision, Haptics, Master-slave system, Posture estimation, Visual servo",

author = "Yu Nakajima and Takahiro Nozaki and Yuji Oyamada and Kouhei Ohnishi",

year = "2012",

doi = "10.1541/ieejias.132.374",

language = "English",

volume = "132",

pages = "374--380",

journal = "IEEJ Transactions on Industry Applications",

issn = "0913-6339",

publisher = "The Institute of Electrical Engineers of Japan",

number = "3",

}

TY - JOUR

T1 - Object-coordinate-based bilateral control system using visual information

AU - Nakajima, Yu

AU - Nozaki, Takahiro

AU - Oyamada, Yuji

AU - Ohnishi, Kouhei

PY - 2012

Y1 - 2012

N2 - In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using the environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.

AB - In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using the environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by taking some of their tasks. An experiment is conducted to prove the benefit of the proposed method by using a 1-DOF master robot and a 2-DOF slave robot.

KW - Bilateral control

KW - Computer vision

KW - Haptics

KW - Master-slave system

KW - Posture estimation

KW - Visual servo

UR - http://www.scopus.com/inward/record.url?scp=84859013369&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859013369&partnerID=8YFLogxK

U2 - 10.1541/ieejias.132.374

DO - 10.1541/ieejias.132.374

M3 - Article

AN - SCOPUS:84859013369

SN - 0913-6339

VL - 132

SP - 374

EP - 380

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

IS - 3

ER -

Object-coordinate-based bilateral control system using visual information

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this