Realization of Cooperative Motions by a Function-based Decentralized Control System for Reconfigurable Robots

This paper introduces the research field of real-world haptics that acts on real-world objects. This paper also reviews recent technical advances in real-world haptics, such as functionality and oblique coordinate control. As a catalyst for real-world haptics, a principle of this research area is explained through two simple examples: acceleration-based bilateral control and grasping/manipulating control. These two examples and the cited papers offer the view that a wide variety of system roles can be realized by combining pure position control and pure force control with an appropriate coordinate transformation. Real-world haptics has the capability of contributing toward supporting human activities.

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Real-World Haptics for Motion Realization

Nozaki

Mizoguchi

Ohnishi

2013

IEEJ Journal IA

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Realization of Cooperative Motions by a Function-based Decentralized Control System for Reconfigurable Robots

Cited by 1 publication

References 10 publications

Real-World Haptics for Motion Realization

Real-World Haptics for Motion Realization

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