日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
人の操作モデルと拡張カルマンフィルタによる状態推定を用いた掘削の半自律制御
岡田 昌史岡本 裕舛屋 賢
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ジャーナル フリー

2020 年 86 巻 884 号 p. 19-00320

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For robotic teleoperation, semi-autonomous control, i.e. autonomous control allowing human interposition will be an effective way overcoming delay of electrical communication and emergency operation. We have proposed semi-autonomous control method focusing on excavation in teleoperation environments. In the method, a model of human operation is designed and human internal state is estimated by Extended Kalman Filter. In this paper, experimental evaluations are conducted and reported about ”Digging” process. A human skill of excavation is modeled by an attractor-based dynamics embedding shallow and deep digging trajectories for soft and hard soil, respectively. An index parameter is changed based on the load of the bucket, and a seamless motion transition is realized satisfying the restriction by setting a threshold. Moreover, by adding a human operation to the autonomy, the proposed method will cope with the emergency, which is experimentally evaluated.

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