Research on Control for Sub-Autonomous Multi-Fingered Tele-Robot Systems

本研究将远程操作作为亚自主机器人与操作者之间的接口，旨在扩展前人的研究，建立亚自主多指远程机器人系统的控制策略。事实上，以位置和力信息的通信为重点，研究了以下几个方面：(1)多指机器人的滑动和滚动力学；(2)从可控性角度看多指机器人的结构和传感；(3)多变量系统中位置和力的双边控制；(4)多指远程机器人系统的协作和层次控制。1999年，研制了多指遥控机器人系统，提出了若干次自主控制方法，阐明了多指遥控机器人在手指与物体之间的滑动和滚动力学的重要性。2000年，明确了滑动和滚动现象下的力学性能，改进了以前的控制方法。此外，为了使抓握和操作行为更加稳定，制作了软指，并对其应力-应变特性进行了实验研究。通过这些改进，达到了本研究的目的。进一步的研究方向是力传感与视觉传感的融合。

In this research, regarding the tele-operation as an interface between sub-autonomous robots and operators, in order to expand the previous study, it aims to establish a control strategy for sub-autonomous multi-fingered tele-robot systems. In facts, focusing the communication on position and force information, the following things have been investigated : (1) mechanics on sliding and rolling of multi-fingered robot, (2) structure and sensing for multi-fingered robot from view point of controllability, (3) bilateral control for positions and forces in multivariable systems, (4) cooperation and hierarchy control for multi-fingered tele-robot systems.In 1999, the multi-fingered tele-robot system was made, some control methods for sub-autonomy were developed, then it was clarified that mechanics on sliding and rolling between fingers and object are very important.In 2000, the mechanical properties on sliding and rolling phenomena have been made clear, and the previous control methods were improved. In additions, to make the behaviors of grasping and operating more stable, the soft-fingers were made and its stress-strain property was investigated experimentally. From these improvements, the aim of this research has been achieved. The further research is fusion of force sensing and visual sensing.