Title :
Tele-control between operator’s hand and multi-fingered humanoid robot hand with delayed time
Author :
Arai, Shinichi ; Miyake, Kazunari ; Miyoshi, Takanori ; Terasima, Kazuhiko
Author_Institution :
Dept. of Production Syst. Eng., Toyohashi Univ. of Technol., Toyohashi
Abstract :
This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operator´s finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of Round Trip Time (RTT) as Osec, 0.56sec, using a multi-fingered humanoid robot hand by master/slave control feeling fingertip force. However, with increases in the RTT, the operation became more difficult. We also analyzed the stability of the master site and the slave site by frequency characteristics. The results showed that this system was unstable. However, grasping by tele-control with a communication delay was demonstrated.
Keywords :
delays; dexterous manipulators; grippers; humanoid robots; position control; stability; telerobotics; bilateral master-slave control; communication delay; delayed time; environmental force; fingertip force; multifingered humanoid robot hand; object grasping; operator finger angle; operator hand; robot hand angle control; round trip time; stability analysis; telecontrol system; Communication system control; Delay effects; Fingers; Force control; Frequency; Grasping; Humanoid robots; Master-slave; Robot control; Stability analysis;
Conference_Titel :
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-2212-8
Electronic_ISBN :
978-1-4244-2213-5
DOI :
10.1109/ROMAN.2008.4600713