A Telerobotics System using Planning Functions Based on Manipulation Skills and Teaching-by-Demonastration Technique in VR.
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- Onda Hiromu
- Electrotechical Laboratory
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- Ogasawara Tsukasa
- NAIST
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- Hirukawa Hirohisa
- Electrotechical Laboratory
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- Kitagaki Kosei
- Electrotechical Laboratory
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- Nakamura Akira
- Electrotechical Laboratory
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- Tsukune Hideo
- Oita Industrial Research Institute
Bibliographic Information
- Other Title
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- 実環境行動計画機能に基づく作業ロボットシステム
- ジツ カンキョウ コウドウ ケイカク キノウ ニ モトヅク サギョウ ロボット システム
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Abstract
This paper describes a teleoperation system for maintenance tasks integrating planning functions based on manipulation skills. Demands for autonomous teleoperation function for maintenance tasks are increasing. We embed planning functions into a telerobotics system to make the system more flexible and robust. A motion teaching system based on contact state transition in a task in VR, a geometric modeling system using Teaching Trees, and a task execution system based on manipulation skills are integrated. The design concept of the system and essential technologies are described. An experimental task is explained to demonstrate the efficiency of the telerobotics system.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 18 (7), 979-994, 2000
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679702334208
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- NII Article ID
- 10007545254
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 5531253
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed