Bilateral control with time-varying delay including communication blackout

Yokokohji et al. (2000) proposed a bilateral control scheme with energy balance monitoring under time-varying communication delay. In this paper, experimental results using the proposed control scheme over a computer network are shown. In the above work, the authors dealt with a situation when the communication is in breakdown. However, they did not discuss how to recover the system after the communication line comes back. In this paper we also propose a way to recover the system from the communication blackout. Experimental results show the validity of the proposed methods.