A Telerobotics System using Planning Functions Based on Manipulation Skills and Teaching-by-Demonastration Technique in VR

Abstract

This paper describes a teleoperation system for maintenance tasks integrating planning functions based on manipulation skills. Demands for autonomous teleoperation function for maintenance tasks are increasing. We embed planning functions into a telerobotics system to make the system more flexible and robust. A motion teaching system based on contact state transition in a task in VR, a geometric modeling system using Teaching Trees, and a task execution system based on manipulation skills are integrated. The design concept of the system and essential technologies are described. An experimental task is explained to demonstrate the efficiency of the telerobotics system.