抄録
The demand of robots, which is to work under the hazardous environment scene instead of human, is getting increased in recent years. Such robots should be controlled directly by human operators to make flexible decisions under such conditions, so our study is to develop the system of using master-slave with high maneuverable master device. In this research we propose a new method of master-slave operation with manipulating multiple numbers of slave robots by single master operator. In particular, the method is to transfer the coordinate system of operator's hand directly to the manipulated object, but not to robot's hand. It is efficient in some situations which is found difficulty with using only one slave robot, such that handling a large object. Moreover, we aimed to realize the proposed system without a feeling of wrongness, by evaluating the movability of the slave arm, using Gaussian Mixture Model of the hand's movable area.
