Haptic Data Prediction and Extrapolation for Communication Traffic Reduction of Four-Channel Bilateral Control System

摘要

Robotic teleoperation with a bilateral control system has attracted attention owing to its haptic transmission performance. However, conventional bilateral control systems require broadband communication to transmit the vivid haptic sensation. This problem limits the application range of the bilateral control systems. The communication traffic can be reduced by predicting and extrapolating the incoming data. However, in the conventional prediction-based methods, only one type (e.g., position, velocity, or force) of data is transmitted per one direction because of the difficulty of predicting multiple independent data. The novelty of this article is the realization of the prediction-based traffic reduction in the four-channel bilateral control system that transmits accurate haptic sensation by communicating both position and force data. By equivalently transforming this control scheme in the structure of impedance control, the transmit data are summed up to one data, equilibrium force. The equilibrium force is not only transmitted but extrapolated on the receiver side. As a result, the communication frequency becomes low without degrading haptic transmission performance. The validity of the proposed method was confirmed through experiments and succeeded to reduce the communication data size to less than 3.0%. The proposed method helps to realize a high-performance bilateral control system on band-limited networks.