TY - GEN
T1 - Direct tele-teaching with handy homothetic robot for multi-limbed working robot
AU - Inoue, Toshihiko
AU - Mae, Yasushi
AU - Kojima, Masaru
AU - Arai, Tatsuo
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - The paper proposes a direct motion tele-teaching system for tele-operation of multi-limbed working robots. In this system, we use a small homothetic robot which is easily handled by operator's hands, whose configuration is similar to the tele-operation robot. In the basic flow of the system, firstly an operator makes the motion by manually operating the small robot and the motion data is recorded. Then, the motion will be confirmed via a simulator and the command will finally be applied to the tele-operation robot. The challenging problem is how a single operator could operate multiple limbs of the robot at the same time. Moreover, the tips of supporting limbs must keep contact to the environment during the other body's motion. In order to solve these problems, the system will save the motion data discretely during the operation, and the proposed teaching system discretely synchronizes the small robot and the tele-operation robot. In the experiments, a six-limbed robot 'ASTERISK' is used as a tele-operation robot, and a handy homothetic robot is made. We confirm that our proposed system is intuitively used for operating multi-limbed robot using a handy homothetic robot.
AB - The paper proposes a direct motion tele-teaching system for tele-operation of multi-limbed working robots. In this system, we use a small homothetic robot which is easily handled by operator's hands, whose configuration is similar to the tele-operation robot. In the basic flow of the system, firstly an operator makes the motion by manually operating the small robot and the motion data is recorded. Then, the motion will be confirmed via a simulator and the command will finally be applied to the tele-operation robot. The challenging problem is how a single operator could operate multiple limbs of the robot at the same time. Moreover, the tips of supporting limbs must keep contact to the environment during the other body's motion. In order to solve these problems, the system will save the motion data discretely during the operation, and the proposed teaching system discretely synchronizes the small robot and the tele-operation robot. In the experiments, a six-limbed robot 'ASTERISK' is used as a tele-operation robot, and a handy homothetic robot is made. We confirm that our proposed system is intuitively used for operating multi-limbed robot using a handy homothetic robot.
UR - http://www.scopus.com/inward/record.url?scp=85016785979&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2016.7866603
DO - 10.1109/ROBIO.2016.7866603
M3 - Conference contribution
AN - SCOPUS:85016785979
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 1882
EP - 1887
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -