Operation modes for cooperating with autonomous functions inintelligent teleoperation systems

摘要

The authors propose four operation modes for cooperation betweenmanual operation and autonomous functions in intelligent teleoperationsystems. They specify the sequence of mode change so that the operatorcan change these operation modes intuitively and smoothly. They describethe control schemes of master-slave arms in each mode based on the newbilateral control scheme which was previously proposed by the authors.They confirm the validity of the proposed operation modes and thesequence of mode change experimentally by using a simple one-DOFmaster-slave manipulator system. It is shown that the task efficiency isimproved and the burden on the operator is lightened by introducing theproposed method