主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2022
開催日: 2022/06/01 - 2022/06/04
In this study, we propose a shared control method for immersive teleoperation systems. The shared control method is intended to assist human operators in performing tasks that require dexterous manipulation, such as pouring a drink from a bottle into a glass in a remote environment. In this shared control scheme, the position and center of rotation of the bottle is adjusted and constrained based on the detected position of the glass. It also detects the height of the plastic ball in real time and assists the operator to fill the ball with the targeted amount. Experiments have confirmed that the system is able to accomplish the task as intended by the operator, even with irregular time delays.