DocumentCode :
2310046
Title :
Human and robot integrated teleoperation
Author :
Lee, Sooyong ; Choi, Dae-Seong ; Kim, Munsang ; Lee, Chong-Won ; Song, Jae-Bok
Author_Institution :
Adv. Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Volume :
2
fYear :
1998
fDate :
11-14 Oct 1998
Firstpage :
1213
Abstract :
A lot of research has been done in robot path generation, including automatic path planning and teaching/playback. Teleoperation is commonly used to control a robot from a remote site in an unknown environment. Korea Institute of Science and Technology (KIST) is developing a Humanoid robot, which has two arms (9 degrees of freedom for each), two hands (4 d.o.f. each), a waist (3 d.o.f.) and a neck (2 d.o.f.) An automatic path planner which takes advantage of redundancy is also developed, however, it requires huge computational power and time. For some tasks, which are very complex, or interacting with environments, the robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Using sensors, human motion is analyzed and converted to robot joint angles. For tasks interacting with an unknown environment, teleoperation with force feedback is more useful. A simple exoskeleton-type master arm is designed based on kinematic analysis. For force reflection, pneumatic actuators are used. This device is integrated with KIST Humanoid robots. A force reflecting master hand is also developed. In addition to the master arm/hand, visual information is fed back to the human through HMD for higher interaction, and voice command interpreter/voice synthesis is integrated. Therefore a new method of human/robot integration is developed
Keywords :
force feedback; human factors; interactive systems; motion control; motion estimation; path planning; telerobotics; user interfaces; HMD; Humanoid robot; automatic path planner; exoskeleton-type master arm; force feedback; force reflecting master hand; force reflection; human motion; human teaching; human/robot integrated teleoperation; human/robot integration; kinematic analysis; master arm/hand; pneumatic actuators; redundancy; remote site; robot joint angles; robot path generation; unknown environment; visual information; voice command interpreter/voice synthesis; Automatic control; Education; Educational robots; Humanoid robots; Humans; Manipulators; Path planning; Robot control; Robot sensing systems; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location :
San Diego, CA
ISSN :
1062-922X
Print_ISBN :
0-7803-4778-1
Type :
conf
DOI :
10.1109/ICSMC.1998.727875
Filename :
727875
Link To Document :
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