What question did this study set out to answer?

The central aim is to investigate how shortening the control period affects bilateral control accuracy and robot learning outcomes.

April 23, 2026Journal of the Robotics Society of Japan0 citations

Improving Bilateral Control Accuracy by Shortening the Control Period with Implications for Robot Learning

KIKoki Inami JOJunji Oaki SSSho Sakaino

Key Points

The central aim is to investigate how shortening the control period affects bilateral control accuracy and robot learning outcomes.
Reduced control period from 2ms to 1ms using a microcontroller and direct RS-485 connection.
Conducted experiments on a single-degree-of-freedom testbed and an eight-degree-of-freedom CRANE-X7 pair.
Executed four manipulation tasks to assess performance differences between control periods.
Shorter control periods increased velocity and force bandwidth with higher gains.
Tasks executed at 1ms were up to 30% faster than those at 2ms.
Some tasks showed reduced variance, indicating more consistent performance.

Abstract

High-fidelity motion data are essential for imitation learning. This study reduces the control period of four-channel bilateral control from 2ms to 1ms by using a microcontroller and a direct RS-485 connection. Experiments on a single-degree-of-freedom (DoF) testbed show widened velocity and force bandwidth with higher gains under the faster control period. On an eight-DoF CRANE-X7 pair, four manipulation tasks executed at 1ms were up to 30% faster than at 2ms, with reduced variance observed in some tasks. These results suggest that shorter control periods enhance responsiveness, task efficiency, and demonstration data quality.

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