Virtual elastic wall based motion control for teleoperated demining system

Erdene Damdinsuren; Kazuhiro Kosuge; ZhiDong Wang; Yasuhisa Hirata

doi:10.1109/icma.2005.1626805

Virtual elastic wall based motion control for teleoperated demining system

Erdene Damdinsuren
, Kazuhiro Kosuge
, ZhiDong Wang
, Yasuhisa Hirata

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment. © 2005 IEEE.

Original language	English
Title of host publication	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages	1666-1671
DOIs	https://doi.org/10.1109/icma.2005.1626805
Publication status	Published - 2005
Externally published	Yes
Event	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada Duration: 29 Jul 2005 → 1 Aug 2005

Publication series

Name	IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

Conference	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Place	Canada
City	Niagara Falls, ON
Period	29/07/05 → 1/08/05

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Research Keywords

Landmine
Teleoperation
Virtual wall

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10.1109/icma.2005.1626805

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title = "Virtual elastic wall based motion control for teleoperated demining system",

abstract = "In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment. {\textcopyright} 2005 IEEE.",

keywords = "Landmine, Teleoperation, Virtual wall",

author = "Erdene Damdinsuren and Kazuhiro Kosuge and ZhiDong Wang and Yasuhisa Hirata",

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language = "English",

isbn = "0780390458",

series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

pages = "1666--1671",

booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

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Damdinsuren, E, Kosuge, K, Wang, Z & Hirata, Y 2005, Virtual elastic wall based motion control for teleoperated demining system. in IEEE International Conference on Mechatronics and Automation, ICMA 2005. IEEE International Conference on Mechatronics and Automation, ICMA 2005, pp. 1666-1671, IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, Canada, 29/07/05. https://doi.org/10.1109/icma.2005.1626805

Virtual elastic wall based motion control for teleoperated demining system. / Damdinsuren, Erdene; Kosuge, Kazuhiro; Wang, ZhiDong et al.
IEEE International Conference on Mechatronics and Automation, ICMA 2005. 2005. p. 1666-1671 (IEEE International Conference on Mechatronics and Automation, ICMA 2005).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Virtual elastic wall based motion control for teleoperated demining system

AU - Damdinsuren, Erdene

AU - Kosuge, Kazuhiro

AU - Wang, ZhiDong

AU - Hirata, Yasuhisa

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2005

Y1 - 2005

N2 - In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment. © 2005 IEEE.

AB - In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment. © 2005 IEEE.

KW - Landmine

KW - Teleoperation

KW - Virtual wall

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U2 - 10.1109/icma.2005.1626805

DO - 10.1109/icma.2005.1626805

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780390458

T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 1666

EP - 1671

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

Virtual elastic wall based motion control for teleoperated demining system

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