Bilateral teleoperation system for a musculoskeletal robot arm using a musculoskeletal exoskeleton

Xi Chen, Satoshi Nishikawa, Kazutoshi Tanaka, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

Musculoskeletal robots have several advantages in physical interactions. However, a method of teaching motion with physical interaction to a robot without the robot's model remains unavailable. Thus, we propose a bilateral teleoperation system for control of a musculoskeletal robot in this paper. This system enables an operator to operate the robot without the robot's model. The system includes a pneumatic musculoskeletal robot and pneumatic musculoskeletal exoskeleton with same joint and muscle composition. The operator wears the exoskeleton, feels the force that is exerted on the robot via the exoskeleton, and controls the robot by giving force to the exoskeleton. In the experiments, we found that the delay of this system is approximately 200 ms. Our system was able to give feedback force to the operator and change the magnitude of this force according to that of the external force. We showed that the operator can make the musculoskeletal robot perform a task with physical interaction with an environment using our systems. Thus, our system allows the operator to teach motion to a musculoskeletal robot with this interaction.

本文言語英語
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2734-2739
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータス出版済み - 3月 23 2018
外部発表はい
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, 中国
継続期間: 12月 5 201712月 8 2017

出版物シリーズ

名前2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
2018-January

その他

その他2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
国/地域中国
CityMacau
Period12/5/1712/8/17

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • 機械工学
  • 制御と最適化
  • モデリングとシミュレーション

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