バイラテラル遠隔操作を利用したタスクスキルトランスファー手法 Task Skill Transfer Method Using a Bilateral Teleoperation

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著者

    • 尹 祐根 YOON Woo-Keun
    • (独)産業技術総合研究所知能システム研究部門 National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Rearch Institute
    • 末廣 尚士 SUEHIRO Takashi
    • (独)産業技術総合研究所企画本部 National Institute of Advanced Industrial Science and Technology (AIST), Planning Headquarters
    • 音田 弘 [他] ONDA Hiromu
    • (独)産業技術総合研究所知能システム研究部門 National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Rearch Institute
    • 北垣 高成 KITAGAKI Kosei
    • (独)産業技術総合研究所知能システム研究部門 National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Rearch Institute

抄録

In this paper, we propose a task skill transfer method using a bilateral teleoperation system. A target area of the task skill is a practical and a dexterous task that is performed by a manipulator. The task skill is implemented by an impedance control. In our method, an operator executes a task under a bilateral teleoperation. He/she finds a suitable motion strategy for a robot. Then, a task skill is written by the suitable motion strategy of the task and the teleoperation results. A knock of a task realization is generally described qualitatively information by a person. However, the knock can be described quantitatively information (teleoperation result) by our method. Furthermore, we discovered that unconsciousness movement of a person became an important element of a knock of a task realization. To demonstrate our task skill transfer method, we choose a lever handle valve manipulation task. This demonstration shows that a task skill of a lever handle valve manipulation is able to be programmed easily, needs no kinematics models of the task, has a robustness of positional errors and has a performance ability and time as the same as the operator.

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 25(1), 155-165, 2007-01-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018695738
  • 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
    8635944
  • 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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