The Development of a Remote Control System for a Humanoid Robot-The Application of a Humanoid Robot for driving of Industrial Vehicles-

摘要

A human operator can operate a robot intentionally using remote control devices. Therefore, the remote control system has the advantages that the robot can work according to the circumstances. We applied it to tele-operation of a humanoid robot that drives industrial vehicles. We have developed remote control devices that can be transported easily near the robot and remote control methods to operate the whole body of the robot, which consist of supervisory control method and master-slave control method and the operator select them suitable for the situation. For the evaluation, the tele-operated humanoid robot: HRP-1S could succeed in driving a rift truck in a standing posture and driving a backhoe in a sitting posture.