| Presentation | 2019-01-18 Follow-up Control of Robot Position for Hand Delivery of Object between Remote Robot Systems with Force Feedback Yuichi Toyoda, Yutaka Ishibashi, Pingguo Huang, Yuichiro Tateiwa, Hitoshi Watanabe, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this report, we propose follow-up control of the robot position when we carry out hand delivery of object between remote robot systems with force feedback, and we investigate the effect of the control by experiment. In each system, a user can operate a remote industrial robot having a force sensor by using a haptic interface device while watching video. An electric hand which can hold an object is attached to the industrial robot arm. In the follow-up control, the position of one robot arm is automatically moved close to the position of the other robot arm, and then smooth hand delivery is realized in combination with manual operation. In the experiment, we make a comparison between the case in which the follow-up control is carried out and the case in which the control is not performed. As a result, we demonstrate that the average operation time is greatly decreased under the control. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Remote robot system / Haptic sense / Cooperative work / Network delay / Experiment |
| Paper # | CQ2018-90 |
| Date of Issue | 2019-01-10 (CQ) |
| Conference Information | |
| Committee | CQ |
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| Conference Date | 2019/1/17(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tokyo Metropolitan Univ. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Video/Voice Services Quality, Media Quality, Network Quality and QoS Control, Networks and Communications at Disaster, User Behavior, Machine Learning, etc. |
| Chair | Takanori Hayashi(Hiroshima Inst. of Tech.) |
| Vice Chair | Hideyuki Shimonishi(NEC) / Jun Okamoto(NTT) |
| Secretary | Hideyuki Shimonishi(NTT) / Jun Okamoto(Nippon Inst. of Tech.) |
| Assistant | Chikara Sasaki(KDDI Research) / Yoshiaki Nishikawa(NEC) / Ryo Yamamoto(UEC) |
| Paper Information | |
| Registration To | Technical Committee on Communication Quality |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Follow-up Control of Robot Position for Hand Delivery of Object between Remote Robot Systems with Force Feedback |
| Sub Title (in English) | |
| Keyword(1) | Remote robot system |
| Keyword(2) | Haptic sense |
| Keyword(3) | Cooperative work |
| Keyword(4) | Network delay |
| Keyword(5) | Experiment |
| 1st Author's Name | Yuichi Toyoda |
| 1st Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 2nd Author's Name | Yutaka Ishibashi |
| 2nd Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 3rd Author's Name | Pingguo Huang |
| 3rd Author's Affiliation | Seijoh University(Seijoh Univ.) |
| 4th Author's Name | Yuichiro Tateiwa |
| 4th Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 5th Author's Name | Hitoshi Watanabe |
| 5th Author's Affiliation | Tokyo University of Science(Tokyo Univ. of Science) |
| Date | 2019-01-18 |
| Paper # | CQ2018-90 |
| Volume (vol) | vol.118 |
| Number (no) | CQ-395 |
| Page | pp.pp.83-88(CQ), |
| #Pages | 6 |
| Date of Issue | 2019-01-10 (CQ) |