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- 西山 高史
- 松下電工
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- 野村 淳二
- 松下電工
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- 仲島 了治
- 松下電工
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- 宮野尾 哲司
- 松下電工
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- Madsen Steve
- 松下電工
書誌事項
- タイトル別名
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- A Semi-Autonomous Security Robot Employing Tele-Existence
- ハン ジリツ テレイグジスタンスガタ ロボット ト ソノ セキュリティ システ
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説明
Recently, there has been much work in the field of teleoperation and telerobotics. A branch of research in this field has moved toward telepresence or tele-existence, where a human operator is made to feel that he is located at the task site. In order to construct a human-robot system operating in the real world by utilizing the tele-existence technology, the relationship between human and robot, i.e., the task allocation between them has to be made clear, and to be matched with the purpose of the constructed system.<br>In this paper, we propose a novel method for allocating tasks to a human operator and a slave-robot by constructing a cognitive information processing model of the human operator when he is engaged in controlling the tele-existence system. By utilizing this method, we introduce an architecture for a semi-autonomous tele-existence mobile robot, where the human operator generates a path for the robot while the robot moves along the path avoiding the obstacles based on the proposed fuzzy control. This architecture enables us to make a prototype system which is to be used in the security system operating in the real world.
収録刊行物
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- 電気学会論文誌C(電子・情報・システム部門誌)
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電気学会論文誌C(電子・情報・システム部門誌) 115 (2), 188-195, 1995
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204609096064
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- NII論文ID
- 130006844664
- 10002808818
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 3593246
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- データソース種別
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- NDL
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