Bilateral teleoperation with dimensional scaling for realization of mobile-hapto

Multimedia technology has been widely spread as the basis for human communications. For example, telephone, television and radio broadcasting are good tools for remote communication. Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute humans eyes and ears. Haptic information has paid attention as the third multimedia information. Especially a transmission technique of real-world haptic information is demanded. This paper proposes a novel haptic transmission in different motion area, named ldquomobile-haptordquo. The ldquomobilehaptordquo consists of a mobile robot and a joystick. A mobile robot has infinite area for its motion. On the contrary, a joystick is fixed for operation by a human. To transmit haptic information in the ldquomobile-haptordquo, bilateral control with dimension scaling is proposed. As a result, intuitive manipulation becomes possible by using the ldquomobile-haptordquo. Effectiveness of the proposed method is verified by experimental results.