Abstract
My laboratory attempts to create a new rescue system with heavy machinery. This system is supposed to be made by replacing power shovel's bucket with dual-arm manipulator. This system has two types of operational method. One type is remote control type called "Master-Slave type". The other type is called "Power-Assist type". For the first step to create the system,I make a study on Power-Assist type. In Power-Assist type,operator operates the system on dual-arm manipulator. If operator sway in operating,the system has to follow him. So,in this study,I control the motion of system by impedance control.
