Design of Adaptive Controller for Bilateral Control Systems Including a Propeller-Driven System

Bilateral control systems including propeller-driven systems have been researched for tasks such as swiping motion, cooperative grasping and manipulation. Although some studies have proposed static controllers that do not change the gain of the controller, they are not robust against a modeling error in the stiffness of a contact object. This paper proposes an adaptive controller that estimates the stiffness of a contact object in real time and uses the stiffness for a control gain. The validity of the proposed controller is verified via simulations and experiments.