書誌事項
- タイトル別名
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- Task Skill Transfer Method Using a Bilateral Teleoperation
- バイラテラル エンカク ソウサ オ リヨウ シタ タスクスキルトランスファー シュホウ
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説明
In this paper, we propose a task skill transfer method using a bilateral teleoperation system. A target area of the task skill is a practical and a dexterous task that is performed by a manipulator. The task skill is implemented by an impedance control. In our method, an operator executes a task under a bilateral teleoperation. He/she finds a suitable motion strategy for a robot. Then, a task skill is written by the suitable motion strategy of the task and the teleoperation results. A knock of a task realization is generally described qualitatively information by a person. However, the knock can be described quantitatively information (teleoperation result) by our method. Furthermore, we discovered that unconsciousness movement of a person became an important element of a knock of a task realization. To demonstrate our task skill transfer method, we choose a lever handle valve manipulation task. This demonstration shows that a task skill of a lever handle valve manipulation is able to be programmed easily, needs no kinematics models of the task, has a robustness of positional errors and has a performance ability and time as the same as the operator.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (1), 155-165, 2007
一般社団法人 日本ロボット学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001204727174016
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- NII論文ID
- 10018695738
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 8635944
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
