Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS
Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS
复制标题
采用全身外骨骼座舱TABLIS的双边仿人遥控系统
DOI：
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发表时间：
2020
影响因子：
5.2
通讯作者：
M. Inaba
中科院分区：
文献类型：
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作者：
Yasuhiro Ishiguro;Tasuku Makabe;Yuya Nagamatsu;Yuta Kojio;Kunio Kojima;Fumihito Sugai;Yohei Kakiuchi;K. Okada;M. Inaba
我们描述了一种用于人形机器人双边远程操作的系统设计方法。我们重点关注双足稳定性和 2D/3D 运动空间问题。我们提出的系统有两个机器人硬件和两个控制软件。主控端硬件是新开发的座椅式全身外骨骼座舱“TABLIS”，主控端软件再现远程2D/3D地面，克服了使用跑步机等运动的空间限制。从属端软件可以防止人形机器人在操作员提供不准确输入的情况下跌倒。我们使用人形机器人“JAXON”作为从属硬件。我们实现了双边准3D步进遍历，证明了我们系统设计的有效性。
We describe a system design approach for the bilateral teleoperation of a humanoid robot. We have focused on bipedal stability and 2D/3D locomotion space problems. Our proposed system has two robot hardware and two control software. The master side hardware is newly developed seat-type whole-body exoskeleton cockpit called “TABLIS,” and the master side software reproduces a remote 2D/3D ground surface and overcomes the space limitation of locomotion, such as the use of treadmills. The slave side software prevents the humanoid from falling down in cases where an operator provides an inaccurate input. We used humanoid robot “JAXON” as a slave side hardware. We have achieved a bilateral quasi-3D step traversing and demonstrated the validity of our system design.