Shared Autonomy in Teleoperating Humanoid Robot

摘要

A method for the teleoperation of humanoid robots which integrates human operator's intention with robot's autonomy is developed. Getting hints from human conscious and subconscious motion generations, we proposed the method which generates whole body motions of a humanoid robot satisfying operator's desired movement of specific points on which the operator focuses as well as the robot's balance. We introduced a workspace extension autonomy which changes utilization of body parts. Model based object recognition function is also introduced for an automatic object grasping. The effectiveness of the method is experimentally confirmed by using humanoid robot HRP-2.