[Paper] Effects of Local and Global Adaptive Δ-Causality Control on Cooperative Work between Remote Robot Systems with Force Feedback

Abstract

In this paper, we investigate effects of two kinds of the adaptive Δ-causality control, which adjusts the output timing of the position information among multiple terminals, on cooperative work between two remote robot control systems with force feedback by experiment. One is the local control under which the adaptive Δ-causality control is partially applied to the systems, and the other is the global control under which the adaptive Δ-causality control is globally done. In each system, a user remotely operates a robot having a force sensor by using a haptic interface device while watching video. We conduct cooperative work of carrying an object grasped by two robot arms and compare the two kinds of control in our experiment. Experimental results illustrate that the global control is more effective than the local control for the cooperative work.