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このページ(論文)をリンクする場合は次のURLを使用してください: http://hdl.handle.net/2261/6879

タイトル: Development of Anthropomorphic Multi-D.O.F. Master-Slave Arm for Mutual Telexistence
著者: Tadakuma, Riichiro
Asahara, Yoshiaki
Kajimoto, Hiroyuki
Kawakami, Naoki
Tachi, Susumu
キーワード: Telexistence
virtual reality
force feedback
bilateral impedance control
発行日: 2005年11月
出版者: IEEE
掲載誌情報: IEEE Transactions on Visualization and Computer Graphics. vol. 11, no. 6, 2005.11/12, pp. 626-636
抄録: We developed a robotic arm for a master-slave system to support "mutual telexistence," which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.
URI: http://hdl.handle.net/2261/6879
ISSN: 10772626
出現カテゴリ:1243010 学術雑誌論文
015 技術・工学


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