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 journalArticlepeer-review

    5 Citations (Scopus)


    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 languageEnglish
    Pages (from-to)374-380
    Number of pages7
    JournalIEEJ Transactions on Industry Applications
    Issue number3
    Publication statusPublished - 2012


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

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering


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