脚動作による位置操作法と操作時の脚動作特性

抄録

When operating a robot arm capable of multi-degree of freedom movement, it is not easy for a person without specialized knowledge to operate using a conventional operation device with many buttons. On the other hand, there is an operation method in which the robot performs the same movement as the operator moves the arm, and it is easy to operate. Legs are capable of multi-degree of freedom movement as well as arms, and therefore it is considered that there is a possibility that robots can be manipulated by the motion of the leg. In this research, we studied an operation method of three dimensional position of a device such as a robot by leg motion of the operator. In order to operate by leg motion, accurate movement is required for the leg. Therefore, we experimentally investigated and clarified how accurately the operator's leg moves as intended during operation and how the intended motion and the actual motion differ from each other. In consideration of the difference, an operation method for calculating an intended operation from the actual leg motion of the operator was constructed. Finally, verification experiments were carried out using the proposed operation method, and its effectiveness was shown.