Remote operation of a robot for maintaining electric power distribution system using a joystick and a master arm as a Human Robot Interface medium

摘要

In our laboratory, we have developed a robot with the goal of maintaining electric power distribution systems. The tasks that the robot performs can be either autonomous or remotely operated. In the case when the robot performs autonomously, the person supervising the robot's operation can specify the task, and the robot can take over. As an example, we direct to do the work instructions such as “Tightening a mechanical nut onto a mechanical bolt”, then our robot autonomously carries out the work. Work that cannot be done autonomous is remotely operated using the master arm joystick. This report relates to the HRI (Human Robot Interface) for remote operation with a master arm joystick, and the GUI (Graphical User Interface). In order to easily perform the operations, the operation arm, vehicle tool (gripper, impact wrench) with force feedback master arm, and the camera are all devices to be operated at the same time with the joystick. In addition, in that paper we perform some tasks as experiments like tightening of the nut, and we evaluate the HRI.