Abstract
Robotic teleoperation with a bilateral control system has attracted attention owing to its haptic transmission performance. However, conventional bilateral control systems require broadband communication to transmit the vivid haptic sensation. This problem limits the application range of the bilateral control systems. The communication traffic can be reduced by predicting and extrapolating the incoming data. However, in the conventional prediction-based methods, only one type (e.g., position, velocity, or force) of data is transmitted per one direction because of the difficulty of predicting multiple independent data. The novelty of this article is the realization of the prediction-based traffic reduction in the four-channel bilateral control system that transmits accurate haptic sensation by communicating both position and force data. By equivalently transforming this control scheme in the structure of impedance control, the transmit data are summed up to one data, equilibrium force. The equilibrium force is not only transmitted but extrapolated on the receiver side. As a result, the communication frequency becomes low without degrading haptic transmission performance. The validity of the proposed method was confirmed through experiments and succeeded to reduce the communication data size to less than 3.0%. The proposed method helps to realize a high-performance bilateral control system on band-limited networks.
Highlights
H APTIC transmission technologies attract a lot of attention because they assist in improving robotic teleoperation [1]–[3]
In the previous prediction-based approaches, only the position or force information can be transmitted from one side to the other side due to the difficulty of predicting the multiple independent signals. These approaches have not been applied to a four-channel bilateral control system that shows high haptic transmission performance by communicating both position and force data bidirectionally [19]
The rest of this article is organized as follows: In Section II, we introduce the structure of the four-channel bilateral control system and equivalently transform the control structure in impedance field expression
Summary
H APTIC transmission technologies attract a lot of attention because they assist in improving robotic teleoperation [1]–[3]. To reduce the communication frequency of the bilateral control system, prediction-based approaches have been proposed [14][15]. In the previous prediction-based approaches, only the position or force information can be transmitted from one side to the other side due to the difficulty of predicting the multiple independent signals These approaches have not been applied to a four-channel bilateral control system that shows high haptic transmission performance by communicating both position and force data bidirectionally [19]. In a study by [20], the conventional four-channel bilateral control system is equivalently transformed into the structure of impedance control After this transformation, the transmit data (position and force) are summed up to only one data, equilibrium force. The communication frequency becomes low without degrading the haptic transmission performance of the four-channel bilateral control system.
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