Takakura, Akira (Keio University), Yashita, Shigeki (Keio University), Nozaki, Takahiro (Keio University)

Environmental Stiffness-Based Gain Updating Law for Bilateral Teleoperation

Scheduled for presentation during the Regular Session "Human-Robot Interaction" (FrAT5), Friday, July 18, 2025, 10:40−11:00, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

Bilateral control is one of the teleoperation methods that enables safe contact by synchronization of position and force between the leader and follower devices. However, these controller gains are set by trial and error in many cases. There are some problems in that the maximum control performance has not been achieved and it may cause destabilization in contact with a hard environment. Therefore, this paper proposes an environmental stiffness based gain updating law design for bilateral teleoperation. The validity of the proposal is confirmed by experiments. This paper contributes to the appropriate gain selection in each environmental stiffness.