油圧駆動型建設ロボットの高臨場感遠隔操縦のための力覚フィードバック

抄録

Hydraulically driven construction robots are expected to play important roles in various situations, such as disaster response by teleoperation, taking advantage of their high power-to-weight ratio and robustness against harsh environments. It is well known that operability and task efficiency in teleoperation can be improved by force feedback. In this paper, we investigate if the fidelity of teleoperation of hydraulically driven construction robots can be improved by force feedback, especially impact force feedback, based on the estimated external load from cylinder pressures and link accelerations. For this purpose, we propose a force scaling method to give the operator the information on external loads properly. The results of subject experiments indicate that the operators can discriminate the hardness of the material easily by the impact force feedback.