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

• 尹 祐根

  (独) 産業技術総合研究所知能システム研究部門

• 末廣 尚士

  (独) 産業技術総合研究所企画本部

• 音田 弘

  (独) 産業技術総合研究所知能システム研究部門

• 北垣 高成

  (独) 産業技術総合研究所知能システム研究部門

書誌事項

タイトル別名

• Task Skill Transfer Method Using a Bilateral Teleoperation
• バイラテラル エンカク ソウサ オ リヨウ シタ タスクスキルトランスファー シュホウ

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

  日本ロボット学会誌 25 (1), 155-165, 2007

  一般社団法人 日本ロボット学会

キーワード

• Task Skill Transfer
• Program Generation
• Bilateral Teleoperation
• Impedance Control
• Valve Manipulation

詳細情報

• CRID: 1390001204727174016
• NII論文ID: 10018695738
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.25.155
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8635944
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8635944
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可