本研究では,ヒューマノイドロボットが,どのような形状である場合に作業上有利か評価する方法について論じる.複数の作業を想定し,評価関数を設定して有利な形状を選択する.1.25m,32 kg のヒューマノイドロボットBonten-Maru II のリンクパラメータを変化させる場合について,簡単な計算例を示す.
This paper addresses improved transparency of teleoperation system by using an impedance control based a new proposed force-reflection(FR)algorithm, where an exerted force by the human operator and a reflecting force from the contact environment are transferred over communication lines with time-varying delays. The input-to-output stability (IOS) small gain approach is used to show the overall FR teleoperation system to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.