1A1-R14 i-MarioNET : Remote Operated Humanoid Robot System Controlled by Telexistence FST(Robotics for Hazardous Fields)
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- NEGISHI Kenta
- Chiba Univ.
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- ITO Naoki
- Chiba Univ.
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- NAMIKI Akio
- Chiba Univ.
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- TANAKA Toru
- Kyokko Electric Co.
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- UEDA Akihisa
- Kyokko Electric Co.
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- MURAKAMI Yoshinori
- Kyokko Electric Co.
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- IKEDA Shinya
- Kyokko Electric Co.
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- WADA Takashi
- Kyokko Electric Co.
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- MORIMOTO Teizo
- Technology Service
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- FUJIMORI Hideo
- Technology Service
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- TACHI Susumu
- 慶大
Bibliographic Information
- Other Title
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- 1A1-R14 i-MarioNET : Telexistence FSTを用いた遠隔操縦型ヒューマノイドロボットシステム(極限作業ロボット)
Abstract
In the paper, a new master-slave manipulation system is proposed. The system consists of a master system called Telexistence-FST and a slave humanoid robot. The master system measures the pose of an operator by Flexible Sensor Tube (FST) which consists of many bending joints and rotational joints. The weight of the system is light and its movable area is large. The structure of the slave robot is similar to the upper half of a human body. It has two 7-axis arms and two multi-fingered hands. The master and the slave are connected via wireless communication, and the slave robot is stand-alone. In addition, we propose a calibration method for improving maneuverability of Telexistence-FST. Finally, experimental results are shown, and the validity of the proposed system is verified.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (0), _1A1-R14_1-_1A1-R14_4, 2013
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001205938080768
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- NII Article ID
- 110009962877
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed