動的作業環境におけるテレ-マニピュレーションの研究

Abstract

One of the most important problems in tele-manipulation is how to realize the human skill in performing the task by master-slave robot system. Experimental results show that, when human operator turns a crank directly, he/she actively uses the contact force along the normal direction of the crank. Although the normal contact force does not contribute to the rotation of the crank, it influences the arm-crank system's stability. In this research, we study on how to compensate the master-slave robot system to turn the crank skillfully.