| Presentation | 2021-05-13 Enhancement of Robot Position Control Using Force Information Considering Mobile Robots Kazuya Kanaishi, Hirofumi Nakagawa, 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) | This report enhances the robot position control using force information, which was previously proposed, for collaborative work between two remote robot systems with force feedback to respond to sudden and large changes in the position of one of the two robots in consideration of mobile robots. When mobile robots are used to carry an object together, a large force may be applied to the object because the difference in the position between the two robots becomes large when moving on an uneven road or a road with steps. Since the robot position control using force information finely adjusts the difference in the position between the robots, the control may not be able to reduce large force when the position information changes suddenly and largely. Therefore, we enhance the robot position control using force information and investigate the effect of the enhanced control by experiment. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Remote robot system / Cooperative work / Force feedback / Stabilization control / QoS control / Experiment |
| Paper # | CQ2021-1 |
| Date of Issue | 2021-05-06 (CQ) |
| Conference Information | |
| Committee | CS / CQ |
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| Conference Date | 2021/5/13(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | On-line |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Optical/Wireless Access and Their Integration, Communication Behavior, QoE and Psychology, Assessment / Measurement / Control / Optimization of Communication Quality, Network Services, Wireless Networks, MIMO/Diversity/Multiplexing Techniques, etc. |
| Chair | Jun Terada(NTT) / Hideyuki Shimonishi(NEC) |
| Vice Chair | Daisuke Umehara(Kyoto Inst. of Tech.) / Jun Okamoto(NTT) / Takefumi Hiraguri(Nippon Inst. of Tech.) |
| Secretary | Daisuke Umehara(Mitsubishi Electric) / Jun Okamoto(NICT) / Takefumi Hiraguri(Doshisha Univ.) |
| Assistant | Hiroyuki Saito(OKI) / Takahiro Yamaura(Toshiba) / Yoshiaki Nishikawa(NEC) / Takuto Kimura(NTT) / Ryoichi Kataoka(KDDI Research) |
| Paper Information | |
| Registration To | Technical Committee on Communication Systems / 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) | Enhancement of Robot Position Control Using Force Information Considering Mobile Robots |
| Sub Title (in English) | |
| Keyword(1) | Remote robot system |
| Keyword(2) | Cooperative work |
| Keyword(3) | Force feedback |
| Keyword(4) | Stabilization control |
| Keyword(5) | QoS control |
| Keyword(6) | Experiment |
| 1st Author's Name | Kazuya Kanaishi |
| 1st Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 2nd Author's Name | Hirofumi Nakagawa |
| 2nd Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 3rd Author's Name | Yutaka Ishibashi |
| 3rd Author's Affiliation | Nagoya Institute of Technology(NITech) |
| 4th Author's Name | Pingguo Huang |
| 4th Author's Affiliation | Gifu Shotoku Gakuen University(Gifu Shotoku Gakuen Univ.) |
| 5th Author's Name | Yuichiro Tateiwa |
| 5th Author's Affiliation | Nagoya Institute of Technology(NITech) |
| Date | 2021-05-13 |
| Paper # | CQ2021-1 |
| Volume (vol) | vol.121 |
| Number (no) | CQ-15 |
| Page | pp.pp.1-6(CQ), |
| #Pages | 6 |
| Date of Issue | 2021-05-06 (CQ) |