- 著者
-
岡田 昌史
岡本 裕
舛屋 賢
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集 (ISSN:21879761)
- 巻号頁・発行日
- vol.86, no.884, pp.19-00320, 2020 (Released:2020-04-25)
- 参考文献数
- 14
- 被引用文献数
-
2
For robotic teleoperation, semi-autonomous control, i.e. autonomous control allowing human interposition will be an effective way overcoming delay of electrical communication and emergency operation. We have proposed semi-autonomous control method focusing on excavation in teleoperation environments. In the method, a model of human operation is designed and human internal state is estimated by Extended Kalman Filter. In this paper, experimental evaluations are conducted and reported about ”Digging” process. A human skill of excavation is modeled by an attractor-based dynamics embedding shallow and deep digging trajectories for soft and hard soil, respectively. An index parameter is changed based on the load of the bucket, and a seamless motion transition is realized satisfying the restriction by setting a threshold. Moreover, by adding a human operation to the autonomy, the proposed method will cope with the emergency, which is experimentally evaluated.