Teleoperated Mobile Manipulator based on Distributed Object Technology: Door Opening Experiment by Master-slave Operation and Automatic Operation

摘要

We are developing a teleoperated mobile manipulator based on distributed object technology for remote maintenance. This paper proposes combinatorial control of master-slave and automatic operation. Master-hand control is used for master-slave operation and camera image processing is for automatic operation with force control. This combination of operations is helpful to reduce operator's burden in remote operation. Experimental results using a door-opening task, which is necessary for plant patrol, shows the validity of the control system. The control system also has robustness in comparison with full-automatic operational systems.