Teleoperation System for Quadruped Robots with HAM { Support Functions to Reduce Misrecognition {

摘要

Human Adaptive Mechatronics (HAM), which is a system concept to adapt human characteristics, has been proposed. As the HAM application, this paper addresses an information emphasis scheme to alert some hazards which are undetectable by a human operator. The emphasis scheme employs cognitive psychological approach to human discrimination characteristics because excess or deflcient emphasis may disturb the operation. One of advantages of teleoperation system is able to include human valuable abilities as global environment recognition, planning, prediction and so on. To implement these abilities to mechanical system is di-cult because of not enough intelligence. Proposed teleoperation system is designed to progress the human abilities, and moreover, to not disturb the abilities. In this paper, we consider that the discrimination characteristics depend on window positions on GUI display and operator's individuality. Finally, the e-ciency of the alert scheme is verifled by some experiments.