Mobile-hapto with yaw rate control for traveling on rough terrain

In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on rough terrain. To overcome this problem, firstly, we reveal dynamics of mobile-hapto including yaw rate. A controller for mobile-hapto with yaw rate control is then proposed by using the dynamics. Its validity is confirmed by an experiment.