Bilateral control of walking haptic system

In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.