Human Interface for Working Robot with Integrated Manipulation and Locomotion

集成操纵和运动的工作机器人的人机界面

• 批准号: 10450098
• 负责人: ARAI Tatsuo
• 金额: $ 7.87万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10450098/
• 关键词: Manipulation and Locomotion; Mobile Manipulation; Human Interface; Humanoid; Teleoperation; Virtual Operating Environment; Limb Mechanism; 腕脚統合型ロボット; モーバイルマニピュレーション; 作業移動型ロボット; 遠隔制御; マスタスレイブ制御; 歩行ロボット

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

移动工作机器人具有集成的操纵和运动功能，其中每个功能相互补充和增强，并且具有多个运动自由度的超冗余。考虑到这一概念，应该对机器人进行分析、设计和控制，以在实际应用领域执行任务。由于机器人的远程操作在现实世界中应用时相当重要，因此需要更有效的人机界面。该项目重点关注工作机器人灵活性和可操作性方面的硬件和人机界面设计。以下是主要产出。 (1)提出了六肢机构机器人，其机械肢具有手臂和腿部的功能。该机器人能够以恒定的稳定性裕度进行全向行走。 (2)提出了步行车辆的航位推算方法，仅利用内部传感器即可估计车辆的位置和方向。该方法应用于肢体机构机器人，评估其估计误差。 （3）避障是通过使用干涉雅可比的概念来获得的，它将两个物体之间的接近速度与执行器速度联系起来。将其应用于并联臂实时避障，验证了其适用性。 (4)人形机器人的主要功能之一是通过其手臂获得多功能且高效的操纵。它的腿需要通过改变步长和步运动的时机来协助手臂获得高可操作性。从这个角度出发，我们讨论和分析了人形移动操纵中所需的腿部运动。仿真结果表明，腿部运动可以通过改变步长和步动时机来改变手臂的可操作性。 (5)有两个视点向操作者展示机器人工作环境，其中之一是本工作中最初提出的，称为“中心视图”。经证实，中心视图在操控任务和机器人导航中更加高效、可操作。 (6)提出了“虚拟操作环境”的概念，为机器控制提供通用接口。对按钮开关的机械阻抗模型进行了建模。基于该模型，实现了由带有阻抗控制器的机械手和CG观察器组成的模拟装置。实验结果，包括触摸和感受虚拟开关的受试者提供的评估，证实了其可行性和适用性。（7）使用红外距离传感器的探测方法被考虑将工作机器人应用于救援任务，即在自然灾害袭击后在混乱的环境中进行人体搜索。实验显示了良好的定位能力，验证了其可行性。较少的

项目成果

Kenji INOUE: "Mobile Manipulation of Humanoids : Real-Time Control Based on Manipulability and Stability"Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation. 2217-2222 (2000)

Kenji INOUE：“人形机器人的移动操纵：基于可操纵性和稳定性的实时控制”ICRA2000 论文集，IEEE 国际机器人与自动化会议。

H.Adachi, N.Koyachi, T.Arai, K.Homma, Y.Shinohara, K.Nishimura: "Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space"Journal of the Robotics Society of Japan. Vol.16 No.3. 329-336 (1998)

H.Adachi、N.Koyachi、T.Arai、K.Homma、Y.Shinohara、K.Nishimura：“基于腿部工作空间边界的腿部过渡的半自主行走”日本机器人学会杂志。

Kenji INOUE: "Distributed Control of Hyper-redundant Manipulators with Expansion and Contraction Motion (Position Control)"Pre-print on TITech COE/Super Mechano-Systems Symposium 2000. 296-305 (2000)

Kenji INOUE：“具有膨胀和收缩运动的超冗余机械手的分布式控制（位置控制）”TITech COE/超级机械系统研讨会 2000 预印本。296-305 (2000)

Yasushi MAE: "Application of Locomotive Robot to Rescue Taske"Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2000). 2083-2088 (2000)

Yasushi MAE：“机车机器人在救援任务中的应用”2000 年 IEEE/RSJ 国际智能机器人与系统会议（IROS2000）论文集。

Kenji INOUE: "Presentation of Push Button Switches with Manipulators for Virtual Operation Environment"Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2000). 1137-1142 (2000)

Kenji INOUE：“Prepresentation of Push Button Switches with Manipulators for Virtual Operating Environment”2000 年 IEEE/RSJ 国际智能机器人和系统会议 (IROS2000) 论文集。