제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Teleoperation System for Quadruped Robots with HAM;Support Functions to Reduce Misrecognition

  • Igarashi, H. (21st Century COE Project Office, Tokyo Denki University) ;
  • Kato, Y. (Department of Electronic Engineering, Tokyo Denki University) ;
  • Takeya, A. (Department of Electronic Engineering, Tokyo Denki University) ;
  • Suzuki, S. (21st Century COE Project Office, Tokyo Denki University) ;
  • Kakikura, M. (Department of Electronic Engineering, Tokyo Denki University)
  • Published : 2005.06.02
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Abstract

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 deficient 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 difficult 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 efficiency of the alert scheme is verified by some experiments.

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