TY - GEN
T1 - Wholebody teleoperation for humanoid robot by Marionette system
AU - Takubo, Tomohito
AU - Inoue, Kenji
AU - Arai, Tatsuo
AU - Nishii, Kazutoshi
PY - 2006
Y1 - 2006
N2 - Marionette system provides an intuitive teleoperation system for the difficulty controlling whole-body motion of a multi-joint robot and the complicated observation of its condition. This system employs a small robot which has similar form to a control target as a operating/displaying device, so that the device provides a operational feeling like manipulating a doll, so it is named Marionette Device. Since the characteristics of the Marionette Device and the target robot are synchronized bilaterally in the system, the operation of Marionette device is reflected intuitively in the target, and the robot motion is also displayed simultaneously by the Marionette device. In this paper, we develop a humanoid type device as Marionette device in order to operate a humanoid robot HRP-2 and implement a whole-body teleoperation method. The remote walking and manipulation experiments in an unknown environment are introduced. In this experiment, the operator should guess the remote environment using head camera view and control legs and arms by the Marionette Device. We propose a new operation method for controlling foot position and leg joints with the Marionette Device. It makes possible to walk by pointing a foot stamp step by step in a stable place.
AB - Marionette system provides an intuitive teleoperation system for the difficulty controlling whole-body motion of a multi-joint robot and the complicated observation of its condition. This system employs a small robot which has similar form to a control target as a operating/displaying device, so that the device provides a operational feeling like manipulating a doll, so it is named Marionette Device. Since the characteristics of the Marionette Device and the target robot are synchronized bilaterally in the system, the operation of Marionette device is reflected intuitively in the target, and the robot motion is also displayed simultaneously by the Marionette device. In this paper, we develop a humanoid type device as Marionette device in order to operate a humanoid robot HRP-2 and implement a whole-body teleoperation method. The remote walking and manipulation experiments in an unknown environment are introduced. In this experiment, the operator should guess the remote environment using head camera view and control legs and arms by the Marionette Device. We propose a new operation method for controlling foot position and leg joints with the Marionette Device. It makes possible to walk by pointing a foot stamp step by step in a stable place.
UR - https://www.scopus.com/pages/publications/34250634901
U2 - 10.1109/IROS.2006.282081
DO - 10.1109/IROS.2006.282081
M3 - Conference contribution
AN - SCOPUS:34250634901
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4459
EP - 4465
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -