Admittance-based Bilateral Control System Implementing Communication Traffic Reduction Method

Abstract

Robotic teleoperation with haptic feedback has gained attention and has been studied extensively in recent years. A bilateral control system is one of the methods to realize transmission of tactile sense from a remote place to an operator. One of the major systems of the bilateral control system is an acceleration based four-channel bilateral control (ABC) system, which is one of the transparent systems. However, the ABC system transmits large data, position and force information, and/or its derivative value of the master and slave system. This paper proposes a novel admittance-based bilateral control system by using only two communication channels without deteriorating the control performance, which results in communication data reduction. Besides, we apply a prediction-based data reduction method to the proposed system for communication frequency reduction. The validity of the proposed system is confirmed by experiments. The obtained results show the proposed system needs smaller data and lower communication frequency to realize transmission of tactile sense.