| Presentation | 2019-10-11 Effect of Adaptive ?-Causality Control for Cooperation between Remote Robot Systems with Force Feedback Kazuya Kanaishi, Yutaka Ishibashi, Pingguo Huang, Yuichiro Tateiwa, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this report, we investigate the effect of the adaptive ?-causality control for cooperation between two remote robot systems with force feedback which have an equal relationship by experiment. In each remote robot system, a user can operate a remote industrial robot with a force sensor while watching video by using a haptic interface device. The adaptive Δ-causality control sends the position information which the system transmits to the robot to the other system and delays the transmission to the robot by the network delay between the systems. In the experiment, the two systems handle work of carrying an object held by the two robot arms as cooperative work, and the adaptive Δ-causality control is applied to each system. Then, a threshold value is used to determine the operation direction of the robot arm. If the robot arm is operated in a different direction from the current direction for a period longer than the threshold value, the operation direction is changed to the direction. Experimental results show that there exists the optimum threshold value. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Remote robot system / Remote control / Force feedback / Cooperative work / QoS |
| Paper # | NS2019-119 |
| Date of Issue | 2019-10-03 (NS) |
| Conference Information | |
| Committee | NS |
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| Conference Date | 2019/10/10(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Nagoya Institute of Technology |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Network architecture (Overlay, P2P, Ubiquitous network, Scale-free network, Active network, NGN/NwGN, IoT, Edge computing, Next generation packet transport (High speed Ethernet, IP over WDM, Multi-service package technology, MPLS), Grid, etc. |
| Chair | Yoshikatsu Okazaki(NTT) |
| Vice Chair | Akihiro Nakao(Univ. of Tokyo) |
| Secretary | Akihiro Nakao(Osaka Pref Univ.) |
| Assistant | Shinya Kawano(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Network Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Effect of Adaptive ?-Causality Control for Cooperation between Remote Robot Systems with Force Feedback |
| Sub Title (in English) | Case Where Robots have Equal Relationship |
| Keyword(1) | Remote robot system |
| Keyword(2) | Remote control |
| Keyword(3) | Force feedback |
| Keyword(4) | Cooperative work |
| Keyword(5) | QoS |
| 1st Author's Name | Kazuya Kanaishi |
| 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) |
| Date | 2019-10-11 |
| Paper # | NS2019-119 |
| Volume (vol) | vol.119 |
| Number (no) | NS-221 |
| Page | pp.pp.87-92(NS), |
| #Pages | 6 |
| Date of Issue | 2019-10-03 (NS) |