Human Interface for Working Robot with Integrated Manipulation and Locomotion

移动的工作机器人具有集成的操纵和运动功能，其中每个功能补充和增强另一个功能，并且具有多个运动自由度的超冗余。机器人应该分析，设计和控制，以执行任务，在实际应用领域考虑到这一概念。由于机器人的遥操作在应用于真实的世界中时相当重要，因此需要更有效的人机接口。本计画主要针对作业机器人的灵巧性与可操作性，进行硬体与人机介面的设计。以下是主要产出。(1)提出了一种六肢机构机器人，该机器人具有一个机械肢体，能够同时实现手臂和腿的功能。该机器人具有稳定裕度恒定的全方位行走能力。(2)提出了一种步行车辆的航位推算方法，该方法仅利用内部传感器就能估计出车辆的位置和姿态。该方法 ...更多信息 应用于肢体机构机器人，评估其估计误差。(3)通过引入干涉角的概念，将两个物体之间的接近速度与执行器速度联系起来，实现了机器人的避障。将其应用于并联机器人的真实的实时避障，验证了其适用性。(4)仿人机器人的主要功能之一是通过其手臂获得灵活有效的操纵。它的腿需要帮助手臂获得他们的高操纵性，通过改变步长和步进运动的时机。从这一角度出发，对仿人机器人移动的操作所需的腿运动进行了讨论和分析。仿真结果表明，腿的运动可以通过改变步长和步进运动的时机来改变手臂的可操作性。(5)机器人工作环境有两种视角，其中之一是本文首次提出的“中心视角”。实验结果表明，中心视图在机器人的操作任务和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。在此基础上，设计了一个由阻抗控制器和CG观测器组成的模拟装置。实验结果，包括被试者对虚拟开关的触摸和感觉，证实了该方法的可行性和适用性。（7）研究了基于红外测距传感器的探测方法，并将其应用于自然灾害发生后混乱环境中的人体搜索救援任务。实验表明，该方法具有良好的定位性能，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