簡易な入力装置を用いたヒューマノイドロボットの全身遠隔操作システム Whole Body Teleoperation of a Humanoid Robot Development of a Simple Master Device using Joysticks

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抄録

This paper presents a novel method for the whole body teleoperation of a humanoid robot using simple input device. A typical humanoid robot would have more than 20 DOF. Due to the complexity, it requires an effective way for whole body teleoperation. Getting hints from the shifting of locus of attention for body motions between the joints of human body during task executions, this paper proposes a switching command based whole body teleoperation method. Instead of giving command to all joints all the time, the operator selects only the necessary point of the humanoid robot for teleoperation. This switching teleoperation method enables flexible teleoperation of humanoid robots using only simple input devices. The proposed method is implemented as a teleoperation system using two 3 DOF joysticks to operate a real 30 DOF humanoid robot, HRP-1S, which is developed in the Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan. The effectiveness of the proposed method is confirmed with experiments teleoperating HRP-1S.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan

    日本ロボット学会誌 = Journal of Robotics Society of Japan 22(4), 519-527, 2004-05-15

    The Robotics Society of Japan

参考文献:  36件中 1-36件 を表示

被引用文献:  2件中 1-2件 を表示

各種コード

  • NII論文ID(NAID)
    10012928449
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6950428
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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