Development of a mobile robot which embodies a remote instructor
Development of a mobile robot which embodies a remote instructor
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开发包含远程教练的移动机器人
DOI：
10.1109/iros.2000.893152
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Kenji Suzuki
中科院分区：
文献类型：
--
作者：
Shinya Oyama;H. Kuzuoka;K. Yamazaki;M. Mitsuishi;Kenji Suzuki
一个支持现实世界中物理任务的远程教学的系统应该支持以下要求：1)身体布置的灵活性；2)相互之间的方位感知；3)手势信息的交流。为了满足这些需求，我们开发了一个名为“GestureMan”的系统。GestureMan是一个移动机器人，上面安装了三个摄像头和一个遥控激光笔。教练用操纵杆远程控制机器人，并向操作员发出指令。分别使用低速卫星链路和高速ATM网络进行的两个初步实验表明，GestureMan具有支持远程教学的能力。此外，千兆网络通过缓解时间延迟和视场狭窄等限制，实现了教师和操作员之间的自然交互。
A system which supports remote instruction for physical tasks in the real world should support following requirements: 1) flexibility of the body arrangement; 2) awareness of each other's orientations; and 3) communication of gestural information. To satisfy these requirements, we developed a system named "GestureMan". GestureMan is a mobile robot mounted with three cameras and a remotely controlled laser pointer on it. An instructor controls the robot remotely with a joystick and gives instruction to an operator. Two preliminary experiments using a low-speed Satellite link and high-speed ATM network respectively show that GestureMan has an ability to support the remote instruction. Furthermore, gigabit network enabled the natural interaction between the instructor and the operator by alleviating limitations such as time delay and narrow field of view.