Human Interface for Working Robot with Integrated Manipulation and Locomotion

移动工作机器人具有综合的操作和运动功能，各功能相互补充和增强，具有多自由度的超冗余运动。在分析、设计和控制机器人执行实际应用领域的任务时，应考虑到这一概念。由于机器人的远程操作在实际应用中非常重要，因此需要一个更有效的人机界面。本课题着重于工作机器人在灵巧性和可操作性方面的硬件设计和人机界面设计。以下是主要产出。(1)提出了一种具有手臂和腿部功能的机械肢体的六肢机构机器人。该机器人具有恒定稳定裕度的全向行走能力。(2)提出了一种仅依靠内部传感器即可估计出步行车辆位置和方向的航位推算方法。并将该方法应用于肢体机构机器人，对其估计误差进行了评价。(3)采用将两物体接近速度与执行器速度联系起来的干涉雅可比矩阵的概念，实现了避障。将该方法应用于并联机械臂的实时避障，验证了该方法的适用性。(4)类人机器人的主要功能之一是通过手臂进行灵活、高效的操作。它的腿需要通过改变步长和步动的时间来辅助手臂获得高操纵性。从这个角度出发，我们讨论和分析了人形机器人在移动操作中需要的腿部运动。仿真结果表明，腿部运动可以通过改变步长和步长运动的时间来改变手臂的可操控性。(5)向操作者展示机器人工作环境的视角有两种，其中一种视角是本文最初提出的“中心视角”。验证了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，为机床控制提供通用接口。建立了按钮开关的机械阻抗模型。基于该模型，实现了一个由机械臂、阻抗控制器和CG观测器组成的仿真装置。实验结果，包括被试触摸和感受虚拟开关的评价，证实了其可行性和适用性。(7)考虑使用红外距离传感器探测方法，将工作机器人应用于自然灾害袭击后混乱环境下的搜救任务，即人体搜索。实验表明，该系统具有良好的定位能力，验证了其可行性。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