Novel Teleoperation System for Multi-Micro Robots based on Intention Understanding through Operator's Intuitive Behaviors.

摘要

This paper proposes a novel teleoperation system for multi-micro mobile robots. The system issues teleoperation commands by recognizing such operator's intuitive behaviors as the operator wants to move multiple robots simultane-ously or to move single robot incrementally through operator's object gathering behavior with hand or object sliding behavior with fingers respectively. It also controls the zoom ratio and viewing angle of camera by recognizing the operator's intuitive behaviors to monitor the robots closely from different view angle through the operator's head motion towards the monitor display. Utilization of operator's behavior in accordance with instinctive behavior framework of small objects handling realizes intuitive teleoperation system for multiple micro mobile robots. The effectiveness of the system is confirmed by teleoperation experiments of multiple 1 [cm3] cubic mobile robots driven by PZT-actuators.