Simultaneous operation of dual arm and body of mobile robots

摘要

Most robots with manipulators used in fieldwork use operating devices that are large and complicated, requiring a large system such as a flight cockpit and several operators to move the arms/arm and body of the robots separately. These robots may be more efficiently manipulated using small-scale operating devices, able to be manipulated by a single operator. We have developed an operating device composed of joysticks mounted onto link mechanisms, to manipulate the movement of the robot body. In addition, this device incorporates multi-DOF manipulator-like link structures, which can be intuitively operated by the operator. We also evaluated the operability of this device, as determined by the operator's mental workload and the physical configuration of the operator's hand.