Operation assistance using visual feedback with considering human intention on master-slave systems

Abstract

In the paper, we propose a method for improving maneuverability of master-slave systems. We aim for reproducing human skillfulness and dynamic performance in master-slave robots by using assist control for human operators. In this paper, we focus on a reaching task of a master-slave robot and propose an operation assist algorithm based on visual feedback control. It consists of visual recognition of an object for a slave robot, prediction of operator's motion by a particle filter, estimation of a target for grasping, assist control of the reaching motion. Finally, the validity of the proposed method is verified in a master-slave robot system.