Development of Master Slave Type Humanoid Rabot

在本研究中，我们认为要研制出理想的仿人机器人，就必须研制出一种可遥控操作的仿人机器人。然后提出了主从型仿人机器人的概念。为了实现机器人，我们至少要解决以下三个问题。(1)主从型双足机器人的实现：我们需要定义主从型双足机器人，并讨论开发这种机器人的方法。(2)机械手与腿部协同运动的实现：带机械手的双足机器人是一个强不稳定系统。考虑到整个系统的稳定性，需要设计机械手的轨迹跟踪控制器。(3)模式转换：主从型人形机器人可以有多种模式。我们必须设计一种平滑的换模方法。在本研究中，我们对以上三个主题进行了研究，得出了以下结论。(1)研制了一种主从型双足机器人，展示了主从型人形机器人的可实现性。(2)针对该问题提出了一种增益调度型非线性控制方法，并通过实验验证了该方法的有效性。(3)将传统的遥控操作技术、助力技术和演示教学技术相结合，提出了机器人跟随器的概念。

In this research, we claimed that to develop an ideal humanoid robot we should develop a kind of tele-operated humanoid robot. Then we proposed a concept of master-slave-type humanoid robot. To realize the robot, we have to solve the following three problems at least.(1) Realization of a master-slave-type biped robot : We have to define a master-slave-type biped robot and discuss a method for developeing such kind of robot(2) Realization of cooperated motion of manipulator and leg : A biped robot with manipulator is a strongly unstable system. We have to design a trajectory following controller for the manipulator considering stability of the whole system.(3) Mode changing : Master-Slave-Type Humanoid Robot may have several modes. We have to design a smooth mode changing method.In this research, we studied the above three themes and had the following results.(1)We developed a master-Slave-type biped robot, and show a realizability of the master-slave-type humanoid robot.(2)We proposed a gain scheduling type nonlinear control method for the problem and showed the effectiveness of the method through experiments.(3)To unify a traditional tele-operation technology, power assist technology and teaching-by-showing technology, we proposed a new concept Robotic Follower.