Human and robot integrated teleoperation

摘要

A lot of research has been done in robot path generation, including automatic path planning and teaching/playback. Teleoperation is commonly used to control a robot from a remote site in an unknown environment. Korea Institute of Science and Technology (KIST) is developing a Humanoid robot, which has two arms (9 degrees of freedom for each), two hands (4 d.o.f. each), a waist (3 d.o.f.) and a neck (2 d.o.f.) An automatic path planner which takes advantage of redundancy is also developed, however, it requires huge computational power and time. For some tasks, which are very complex, or interacting with environments, the robot path can be generated very easily and accurately by human teaching, hence the automatic path planner is not required. Using sensors, human motion is analyzed and converted to robot joint angles. For tasks interacting with an unknown environment, teleoperation with force feedback is more useful. A simple exoskeleton-type master arm is designed based on kinematic analysis. For force reflection, pneumatic actuators are used. This device is integrated with KIST Humanoid robots. A force reflecting master hand is also developed. In addition to the master arm/hand, visual information is fed back to the human through HMD for higher interaction, and voice command interpreter/voice synthesis is integrated. Therefore a new method of human/robot integration is developed.