インターネット回線を用いた人間型ロボットハンド／アームの遠隔操作

美間 康平; 本田 誠; 三好 孝典; 今村 孝; 岡部 正幸; Faisal M. Yazadi; 寺嶋 一彦

doi:10.11511/jacc.54.0.418.0

THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 2K303

DOI https://doi.org/10.11511/jacc.54.0.418.0

Conference information

Host: The Society of Instrument and Control Engineers, The Japan Society of Mechanical Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Toyohashi University of Technology, Technically Cosponsored by 51 Societies and Institutes

Qualifiction of Instrument and Control Engineers (1)

Tele-Manipulation with Humanoid Robot Hand/Arm via Interne

*Kohei Mima, Makoto Honda, Takanori Miyoshi, Takashi Imamura, Masayuki Okabe, Faisal M. Yazadi, Kazuhiko Terashima

Author information

Keywords: bilateral control, robot-hand/arm, tele-manipulation

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper presents a tele-control system constructed by a robot hand/arm and operator. The angle of the robot hand is controlled by the angle of the operator's finger, and the operator feels the environmental force, as detected by the touch sensor of the robot hand, constituting so-called bilateral master/slave control. The position of the robot arm is controlled by the potision of the operator's arm. In the experiments, the operator grasped and manipulated the object using a multi-fingered humanoid robot arm/hand by master/slave control feeling fingertip force by tele-operation between USA and Japan.

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