駆動可能な卓上人型デバイスを用いた操縦による人型ロボットの不整地移動と移動のための物体操作の実現

抄録

In this paper, we focus on humanoid robots rough terrain traversal. In order for humanoid robots to cross over uneven ground, we propose a humanoid robot mannequin device with actuators. The device has the same number of joints as the controlled humanoid robot and the operator of the robot can switch which limbs the operator would like to control. With the mannequin device, we did an uneven ground traversing experiment with real-time operation.