Impedance Field Expression of Bilateral Control for Reducing Data Traffic in Haptic Transmission
Impedance Field Expression of Bilateral Control for Reducing Data Traffic in Haptic Transmission
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DOI：
10.1109/tie.2018.2833026
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发表时间：
2019-02-01
影响因子：
7.7
通讯作者：
Oboe, Roberto
中科院分区：
文献类型：
--
作者：
Nozaki, Takahiro;Shimizu, Shuhei;Oboe, Roberto
双边控制在极端环境下的移动的机器人探索和操作等领域有着广泛的应用前景。然而，由于采样周期短和通信频率高，生动的触觉感觉的传输需要触觉数据的快速数据传输速率。本文的目的是在交通减少触觉数据利用阻抗场等效的标准双边控制。所提出的方法从理论上阐明了标准的双边控制和阻抗控制的触觉传输方面的等效性。基于这种等价性，仅通过传递确定阻抗控制的平衡位置的力信息，就可以实现标准双边控制的相同性能。通过仿真和实验验证了该方法的有效性。所获得的结果表明，所提出的方法成功地减少了通信的触觉数据量，而没有任何缺点相比，标准的基于加速度的双边系统。本文提出了一种新的解释，触觉传输是通过控制平衡力来实现的，这有助于减少触觉传输中的数据流量和理解运动生成。
It is expected that bilateral control will find broad applications such as mobile robot exploration and operations in extreme environments. However, the transmission of vivid haptic sensation requires a rapid data-transfer rate of haptic data due to the short sampling period and high-frequency communication. The objective of this paper is aimed at the traffic reduction of haptic data by exploiting an impedance field equivalence of a standard bilateral control. The proposed approach theoretically clarifies the equivalence of the standard bilateral control and impedance control in terms of haptic transmission. Based on this equivalence, the same performance of a standard bilateral control can be achieved by only communicating the force information that determines the equilibrium position of the impedance control. The validity of the proposed approach is confirmed through both simulations and experiments. The obtained results show that the proposed approach successfully reduced the amount of communicated haptic data without any disadvantages compared with the standard acceleration-based bilateral system. This paper shows novel interpretation that haptic transmission is realized by controlling the equilibrium force, which contributes reducing data traffic in haptic transmission and understanding motion generation.