Force-response-type remote operation device for mobile manipulators on rough terrain based on 3D environment observation

2014 Fiscal Year Final Research Report

• Project/Area Number: 24360092
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAGATANI Keiji 東北大学, 工学(系)研究科(研究院), 准教授 (80314649)
• Co-Investigator(Kenkyū-buntansha): YOSHIDA Tomoaki 千葉工業大学, 未来ロボット技術研究センター, 上席研究員 (20458631) ; YOSHIDA Kazuya 東北大学, 大学院工学研究科, 教授 (00191578)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: ロボティクス

Outline of Final Research Achievements

Tracked vehicles that mount multi-degrees of freedom manipulator are of service to find and support victims in disaster environments. However, it requires high-skill for tele-operation of such complicated system. Therefore, in this research, we aimed at researching and developing easy handling tele-operation system, particularly, (1) representation of 3D map on display, (2) contact estimation and presentation with master arm, (3) stability analysis and display to operators. Finally, we integrated the above system and evaluated by some experiments in indoor and outdoor fields. According to the experiment, we confirmed the advantages of the proposed system.

Free Research Field

工学