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Ground-space bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition

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5 Author(s)
Imaida, T. ; Dept. of Mech. Eng., Kyoto Univ., Japan ; Yokokohji, Y. ; Doi, T. ; Oda, M.
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A bilateral teleoperation experiment with Engineering Test Satellite 7 (ETS-VII) was conducted on November 22, 1999. Round-trip time for communication between the National Space Development Agency of Japan ground station and the ETS-VII was approximately seven seconds. We constructed a bilateral teleoperator that is stable, even under such a long time delay. Several experiments, such as slope-tracing task and peg-in-hole task, were carried out. Task performance was compared between the bilateral mode and the unilateral mode with force telemetry data visually displayed on a screen. All tasks were possible by bilateral control without any visual information. Experimental results showed that kinesthetic force feedback to the operator is helpful even under such a long time delay, and improves the performance of the task.

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Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 3 )