ヒューマノイドロボットの全身遠隔操作システムのための全身運動生成法
2004 年 22 巻 8 号 p. 1013-1020
詳細
2004 年 22 巻 8 号 p. 1013-1020
A new method for the teleoperation of humanoid robots which integrates human operator's intention with robot's autonomy is developed. Getting hints from human conscious and subconscious motion generations, we propose the method which generates whole body motions of a humanoid robot satisfying operator's desired movement of specific points on which the operator focuses as well as the robot's balance. The method is based on control of a whole body momentum. The effectiveness of the method is experimentally confirmed by teleoperating a real humanoid robot HRP-1S to perform balanced whole body motions satisfying operator's input command.
