Heterogeneously constrained master-slave system: cart and human coordination

In this paper we investigate a new type of configuration of master-slave system, namely a heterogeneous constrained master-slave system which consists of a holonomically constrained master system and a non-holonomically constrained slave system. As a concrete example of the heterogeneous constrained master-slave system, we consider a three wheel cart as the slave system and an actuated joy-stick as the master system, and a coordination method of the system and human operator, with which an internal state of the input-output, linearized slave system is kept small, is discussed. The coordination is realized as a fictitious force which the human operator can feel through the master system. The effectiveness of the proposed method is shown by experimental results