抄録
We develop a tele-operation system with which a user controls the robot by just moving his/her hands. The user controls the hands and fingers of HIRO to achieve tele-operated pick and place tasks. We first detect joint positions of a user using a KINECT and convert them to those in the robot local coordinates. From the hand position in the robot coordinates, robot joint angles are calculated by solving the inverse kinematics. We then perform a self-collision check for the joint angle set using a Choreoniod, a humanoid motion simulation software, and after getting a safe joint angle set, it is sent to HIRO for the actual motion. We also recognize the shape of the user's hands to generate HIRO's finger opening/closing operations. We realized a tele-operated pick and place task using the proposed system. We also compared the usability between the developed interface and a 3D mouse-based interface.
