Abstract
In this paper, the cooperation of an operator and a slave manipulator with some autonomy is discussed and realized with focusing on the real-time skill transfer under the virtual environment. The operator manipulates the master device which has dynamical interaction with the virtual environment in our methodology. First of all, the concept of the task space separation, in which the task space is separated into a master space and a slave space, is introduced. Then, a so-called skill controller, which consists of the skill recognition and the skill generation, is implemented on the slave manipulator. As for the master space, the operator sends position data directly through the master device to the slave manipulator, and the slave manipulator is manipulated based on the received data. In the slave space, however, the slave manipulator manipulates autonomously based on the real-time recongition of the operator's skill and an appropriate selection and execution of the implemented skill. The usefulness of the proposed framework is demonstrated by handling a calligraphical writing task.
