Human Interface for Working Robot with Integrated Manipulation and Locomotion

移动工作机器人集成了操作和运动功能，每个功能相辅相成，相辅相成，并具有超冗余度和多个运动自由度。机器人应该被分析、设计和控制，以在实际应用领域执行任务，同时考虑到这一概念。由于机器人的遥操作在现实世界中的应用相当重要，因此需要更有效的人机界面。本项目从灵巧性和机动性两个方面对工作机器人的硬件和人机界面进行了设计。以下是主要的输出。(1)提出了一种兼具手臂和腿部功能的六肢机构机器人。该机器人具有全方位行走的能力，具有恒定的稳定裕度。(2)提出了一种步行车辆的航位推算方法，该方法只需要内部传感器就可以估计车辆的位置和姿态。方法是…并将其应用于肢体机构机器人，对其估计误差进行了评估。(3)利用干涉雅各比的概念，将两个物体之间的接近速度与执行机构的速度联系起来，从而实现避障。并将其应用于平行臂的实时避障，验证了其适用性。(4)仿人机器人的主要功能之一是通过手臂获得多才多艺的高效操控。它的腿需要通过改变步长和步进运动的时间来帮助手臂获得高度的可操作性。从这一角度出发，对仿人移动操作所需的腿部运动进行了讨论和分析。仿真结果表明，腿部运动可以通过改变步长和步进时间来改变手臂的可操作性。(5)向操作者展示机器人的工作环境有两个视点，其中一个视点在本文中最初被称为“中心视点”。实验证明，中心视图在操作任务和机器人导航中具有更高的效率和可操作性。(6)提出了“虚拟操作环境”的概念，为机床控制提供了通用接口。建立了按钮开关的机械阻抗模型。在此模型的基础上，实现了由带阻抗控制器的机械手和CG向量器组成的仿真装置。实验结果证实了该方法的可行性和适用性。(7)提出了一种基于红外测距传感器的探测方法，将其应用于救援工作机器人的救援任务，即自然灾害后在混乱环境中进行人体搜索。实验表明，该方法具有较好的定位能力，验证了其可行性。较少

The mobile working robot has integrated manipulation and locomotion functions where each function complements and augments the other, and is hyper redundant with many degrees of freedom in motion. The robot should be analyzed, designed, and controlled to perform tasks in the actual application fields taking this notion into account. Since the teleoperation of the robot is rather important when applied in the real world, a more effective human interface is required. This project focused on designing hardwares as well as human interface in the aspect of dexterity and maneuverability for the working robot. The followings are the major outputs. (1) The six limb mechanism robot was proposed which has a mechanical limb capable of both arm and leg functions. The robot is capable of omni directional walk with constant stability margin. (2) The dead-reckoning method for walking vehicle was proposed which can estimate the vehicle's location and orientation with only inner sensors. The method was … More applied to the limb mechanism robot to evaluate its estimation error. (3) The obstacle avoidance was obtained by using the notion of the interference Jacobean which relates the approaching speed between two objects with actuator velocity. It was applied to the real time obstacle avoidance for a parallel arm and its applicability was confirmed. (4) One of the main functions of humanoid is to obtain versatile and efficient manipulation by its arms. Its legs are required to assist the arms for obtaining their high manipulability by changing step length and timing of step motion. From this point of view, we discussed and analyzed the required motion of legs in mobile manipulation of humanoid. The simulation results showed that the leg motion can vary the manipulability of the arm by changing the step length and the timing of the step motion. (5) There are two view points to show a robot working environment to an operator, one of which is originally proposed in this work called "center view". It was confirmed that the center view is more efficient and operable in manipulation task and robot navigation. (6) The conceat of "virtual operating environment" was proposed to provide universal interface for machine control. The mechanical impedance model of a push button switch was modeled. Based on this model a simulating device, consistins of a manipulator with an impedance controller and a CG veiwer, was implemented. The experiment results, including the evaluations provided by subjects who touched and felt the virtual switch, show the confirmation of its feasibility and applicability (7) The probing method using infra-red range sensor was considered to apply the working robot to a rescue task, i.e. human body searching in a chaotic environment after an attack of natural disaster. The experiments showed fine location capability, and its feasibility was confirmed. Less