Novel tele operation system for multi-micro robots based on intention understanding through operator´s intuitive behaviors

This paper proposes a novel tele operation system for multi-micro mobile robots. The system issues tele operation commands by recognizing operator´s intuitive behaviors so as to move multiple robots simultaneously or to move single robot incrementally through the behaviors either to gather the small objects with one´s hand, or to slide a single one with one´s fingers respectively. The system also controls the camera zoom ratio and viewing angle by recognizing the operator´s intuitive behaviors in order to monitor the robots closely from different view angles through one´s head motion towards the monitor display. Utilization of intuitive behaviors in accordance with an instinctive behavior framework of small objects handling realizes an intuitive tele operation system for multiple micro mobile robots. The effectiveness of the system is confirmed by tele operation experiments of multiple 1 cm cubic mobile robots driven by PZT-actuators