2P1-D28 マニピュレータを搭載した脚型ロボットの把持操作における遠隔操作支援

概要

論文の詳細を見る
Although the manipulator equipped on a mobile robot is extended its work space, it also brings about redundancy for the positioning due to the base mobile robot. To reduce the redundancy of manipulator, the manipulability is often applied as one of indexed for manipulator motion planning. In teleoperation with the mobile manipulator, it is load for human operator to consider the manipulability during a task. Consequently, we proposed an assist technique to improve the manipulability for teleoperated mobile manipulator. Furthermore, the viewability on the display monitor with the robot camera view is considered, and the robot motion to improve the viewability is adopted for the assist technique. Finally, the technique is experimented with four subjected in teleoperated manipulator positioning task and verified the effects.
一般社団法人日本機械学会の論文