1A1-R14 i-MarioNET : Remote Operated Humanoid Robot System Controlled by Telexistence FST(Robotics for Hazardous Fields)

Abstract

In the paper, a new master-slave manipulation system is proposed. The system consists of a master system called Telexistence-FST and a slave humanoid robot. The master system measures the pose of an operator by Flexible Sensor Tube (FST) which consists of many bending joints and rotational joints. The weight of the system is light and its movable area is large. The structure of the slave robot is similar to the upper half of a human body. It has two 7-axis arms and two multi-fingered hands. The master and the slave are connected via wireless communication, and the slave robot is stand-alone. In addition, we propose a calibration method for improving maneuverability of Telexistence-FST. Finally, experimental results are shown, and the validity of the proposed system is verified.