多自由度災害対応ロボットにおける人と自動化システムの協調制御のための操作権限分配の調査

抄録

We previously developed a four-arm four-flipper disaster response robot called OCTOPUS, with both advanced mobility and workability, and we have experimentally confirmed the usefulness of OCTOPUS. This robot has 22 degrees of freedom, so it is currently controlled by two operators. Considering the demand to reduce human resources, we need to introduce a human-automation (HA) shared control. As a preliminary study to end this, we investigate a control-authority allocation (CAA) suitable for various tasks and environment through experiments on a human-human (HH) control system by using a virtual reality simulator. We specified four tasks and five CAA patterns with different allocations among flippers and crawler, and selected a CAA by analyzing the results in terms of completion time, workload, and usability.