2A1-D31 Marionette System for Operating and Displaying Whole-body Motion : 5th Report: Tele-operation System using Marionette Device with Motion Editor

Abstract

We have proposed Marionette System which employs a small humanoid type interface as operating and displaying environment. In this paper, we present the motion editor to make whole-body control patterns for complicated motions. The editor provides motion creating/modifying method using a dynamics simulator and Marionette System. The created motion is excuted on the actual robot and the motion editor allows the marionette system to interrupt the excuted motion for modificating in real-time.