@inproceedings{226de285c0ed4526ac338ff35f0bc8bb,
title = "Real-time network based bilateral robot control system",
abstract = "This paper describes a bilateral robot control system that uses a real-time network and a prioritization scheme for data transmission via a network. The bilateral robot system is controlled by a new controller that improves impedance matching performance. The network system is implemented by a device named responsive processor which is was newly developed to enable real-time networking. Because the network capacity is limited, it is necessary to determine the priority order for the robot control data. The authors analyzed a control system with a time delay and assigned the priority order on the basis of robustness against time delay. To evaluate the priority assignment, experiments on a network-based bilateral robot were conducted. The experiment results confirmed the appropriateness of both the prioritization scheme and the order of the priority assignment.",
keywords = "Bilateral robot, Computer network, Real-time network, Tele-operation",
author = "Yutaka Uchimura and Kouhei Ohnishi",
note = "Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 ; Conference date: 03-10-2006 Through 05-10-2006",
year = "2006",
doi = "10.22260/isarc2006/0103",
language = "English",
isbn = "4990271718",
series = "2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006",
publisher = "Japan Robot Association",
pages = "548--553",
booktitle = "2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006",
}