抄録
As an intuitive way to design a static posture of 3DCG models, a doll-type physical model has been studied since many years. However, there are few researches regarding controlling physical robot using a doll-type interface. In this study, we propose a new doll-type interface to control a real humanoid robot that has similar body structure and large number of degrees of freedom. We have developed hybrid operating system that consists of two different levels of automation such as direct control and semi-autonomous control. We verified the efficiency of the proposed interface for making static posture of the robot by experiment with subjects. Additionally, we describe the classification and representation algorithm of human operator's input using HMM for semi-autonomous controlling.
