Operation modes for cooperating with autonomous functions in intelligent teleoperation systems

The authors propose four operation modes for cooperation between manual operation and autonomous functions in intelligent teleoperation systems. They specify the sequence of mode change so that the operator can change these operation modes intuitively and smoothly. They describe the control schemes of master-slave arms in each mode based on the new bilateral control scheme which was previously proposed by the authors. They confirm the validity of the proposed operation modes and the sequence of mode change experimentally by using a simple one-DOF master-slave manipulator system. It is shown that the task efficiency is improved and the burden on the operator is lightened by introducing the proposed method