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Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

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Book cover Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO™) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. These two results are the first step to improve the dexterity of teleoperation systems and to investigate the relationship between time delay and dexterity.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto, 606-8501, Japan

    Yasuyoshi Yokokohji, Takashi Imaida, Yukihiro Iida & Tsuneo Yoshikawa

  2. Mitsubishi Heavy Industries, Ltd., Japan

    Takashi Imaida

  3. Tsukuba Space Center, National Space Development Agency of Japan, 2-1-1, Sengen, Tsukuba-shi, Ibaraki, 305-8505, Japan

    Toshitsugu Doi & Mitsushige Oda

  4. Toshiba Corporation, Japan

    Toshitsugu Doi

Authors
  1. Yasuyoshi Yokokohji
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  2. Takashi Imaida
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  3. Yukihiro Iida
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  4. Toshitsugu Doi
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  5. Mitsushige Oda
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  6. Tsuneo Yoshikawa
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Yokokohji, Y., Imaida, T., Iida, Y., Doi, T., Oda, M., Yoshikawa, T. (2001). Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_2

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  • DOI: https://doi.org/10.1007/3-540-45118-8_2

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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