Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

摘要

By using remote robot systems with force feedback, we can largely improve the efficiency and accuracy of work among the systems over a network. In such a system, a human can operate a remote robot by manipulating a haptic interface device while monitoring the movement of the robot arm and perceiving force applied to an object touched/moved by an arm of the robot having a force sensor. The remote robot systems with force feedback are expected to be used in many areas such as outer space, deep sea, nuclear power plants, and disaster areas, which humans cannot enter easily. In these situations, three types of cooperation among humans and robots (that is, between humans and robots, between humans, and between robots) are highly demanded. In this chapter, we introduce our remote robot systems with force feedback and describe the three types of cooperation among humans and robots in the systems. We also explain QoS (Quality of Service) control and stabilization control as our challenges and solutions for effective cooperation. Furthermore, we discuss future directions of the cooperation.