Development of Bilateral Control Systems

Bilateral control is a master–slave control method using two identical systems, where one acts as the master (operator side) and the other as the slave (execution side).

In unilateral control, commands are transmitted only from the master to the slave, and no feedback is returned. Therefore, complex tasks are difficult to perform.

In contrast, bilateral control allows feedback from the slave to the master, enabling the execution of complex tasks such as remote operation in hazardous environments.

Applications

Space robotics, industrial teleoperation systems, rescue robots, etc.

Research Topics

• Improving identification accuracy and control performance under nonlinear friction
• Enhancing stability for unmodeled dynamics
• Realistic haptic feedback implementation