Telemanipulation with a humanoid robot hand/arm between USA and Japan
Telemanipulation with a humanoid robot hand/arm between USA and Japan
复制标题
美国和日本之间使用人形机器人手/臂进行遥控操作
DOI：
10.1109/icra.2013.6631085
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
K. Terashima
中科院分区：
文献类型：
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作者：
K. Mima;M. Honda;T. Miyoshi;T. Imamura;Masayuki Okabe;Faisal M. Yazadi;K. Terashima
本文介绍了一种由机器人手/臂和操作员组成的遥控系统。在我们的系统中，根据操作者手指的角度控制机器人手的手指的角度，并根据操作者手臂的位置控制机器人手臂的位置。同时，操作者感觉到环境的力量，由触摸传感器检测到的机器人手，导致所谓的双边主/从控制。到目前为止，已经有一些研究双边主/从系统，使用多指的人形机器人手在通信网络中的物理距离造成的延迟。我们的研究目的是实现远程操作与双边主/从控制之间的操作员的手/手臂和多指人形机器人手/手臂使用互联网与延迟造成的距离。在我们的实验中，操作员在美国，多指人形机器人手/手臂和物体在日本。使用我们的系统，操作者可以成功地抓住和移动一个物体，而他觉得从物体的反作用力。该技术可应用于遥操作，如感觉月球上、地面上的石头的硬度和重量等。
This paper presents a tele-control system comprised of a robot hand/arm and an operator. In our system, the angle of the finger of the robot hand is controlled according to the angle of the operator's finger, and the position of the robot arm is controlled according to the position of the operator's arm. Simultaneously, the operator feels the environmental force as detected by the touch sensor attached to the robot hand, resulting in so-called bilateral master/slave control. To date, there have been a few studies of bilateral master/slave systems that use a multi-fingered humanoid robot hand in communication networks with delay caused by physical distance. The purpose of our study was to achieve tele-operation with bilateral master/slave control between the operator's hand/arm and the multi-fingered humanoid robot hand/arm using the Internet with delay caused by distance. For our experiment, the operator was in the USA, and the multi-fingered humanoid robot hand/arm and object were in Japan. Using our system, the operator could successfully grasp and move an object while he felt the reaction force from the object. This technology can applicable to tele-operation such as feeling the hardness and weight of the stone which exist in the moon, on the ground etc.