1P1-F01 ウェアラブルミニチュアヒューマノイドロボットの運動制御

概要

論文の詳細を見る
In our previous work, a personal telerobot system named "telecommunicator" has been introduced. The telecommunicator achieves communication with a remote person through a teleoperated robot. Until now, three prototypes of the wearable telecommunicator, T1, T2 and T3, have been developed as research platforms. However, these robots cannot act as an operator with realistic sensations, because of their typical robot appearance. To tackle this problem, a wearable miniature humanoid robot has been introduced as the telecommunicator. The robot includes 4-dof dual arms and a 3-dof head with a stereo camera system. In this paper, its concept, design and a developed prototype model are described. Motions of the prototype are calibrated using dedicated fixtures. Experiments show the prototype follows motions of the operator.
2009-05-25