Telexistence cockpit for humanoid robot control
Telexistence cockpit for humanoid robot control
复制标题
用于人形机器人控制的远程存在驾驶舱
DOI：
10.1163/156855303764018468
复制
发表时间：
2003
影响因子：
2
通讯作者：
Kozo Inoue
中科院分区：
文献类型：
--
作者：
S. Tachi;K. Komoriya;K. Sawada;T. Nishiyama;T. Itoko;Masami Kobayashi;Kozo Inoue
在1998年财政年度，日本经济产业省（METI）启动了一项名为人形机器人项目的国家五年计划。作为这个项目的一部分，我们正在开发一种新的人形机器人telexistence（tel-existence）系统，以协助和合作的人。本文介绍了一种新开发的电传驾驶舱的人形机器人控制，并显示了技术演示，以评估开发的驾驶舱和机器人。人类操作员在远程驾驶舱内控制机器人，就好像他或她在机器人本身内部一样。电传驾驶舱由三个子系统组成：三维（3D）音频/视频显示子系统，电传主控子系统，以及驾驶舱和机器人之间的通信子系统。一系列真实的图像由安装在机器人上的摄像机捕获并呈现在视觉显示器上，驾驶舱中的人类操作员以实时存在的感觉观察它们。他或她可以直观地控制从机器人的手臂和手，通过电传主控子系统与力反馈。
In the fiscal year of 1998, The Ministry of Economy Trade and Industry (METI) of Japan launched a national 5-year project called the Humanoid Robotics Project. As a part of this project, we are developing a novel humanoid robot telexistence (tel-existence) system to assist and cooperate with people. This paper describes a newly developed telexistence cockpit for humanoid robot control, and shows a technical demonstration to evaluate the developed cockpit and the robot. A human operator controls the robot within the remote cockpit as if he or she were inside the robot itself. The telexistence cockpit consists of three subsystems: a three-dimensional (3D) audio/visual display subsystem, a telexistence master subsystem, and a communication subsystem between the cockpit and the robot. A series of real images are captured by cameras mounted on the robot and presented on the visual display, and the human operator in the cockpit observes them with a sensation of real-time presence. He or she can intuitively control the arms and hands of the slave robot through the telexistence master subsystem with force feedback.