History of Robotics Research and Development of Japan2003ManipulationHuman Interface for Manenvering Nonholonomic Systems

Hirohiko Arai

National Institute of Advanced Industrial Science & Technology (AIST)

Humans can easily maneuver some types of nonholonomic systems, e.g. wheeled vehicles, while other types, e.g. space robots, are difficult to handle intuitively. We propose a human interface to simplify the operation of "difficult" nonholonomic systems, which utilizes the human ability to maneuver "easy" systems. The difficult real system is converted into an easy virtual system using coordinate and input transformation. The input from the human operator to the virtual system is converted into input to the real system, while the state of the real system is converted into that of the virtual system which is displayed to the operator. The operator can then steer the real system feeling as if maneuvering the virtual system. Our experiments show that the operating performance is improved by this method. 18th RSJ Best Paper Award in 2004. 第6回ロボティクスシンポジア最優秀論文賞受賞日本機械学会ロボティクス・メカトロニクス部門ROBOMEC表彰受賞

仮想系へのシステム変換によるヒューマンインタフェース<br />Human Interface Using System Transformation between Real System and Virtual System — Human Interface Using System Transformation between Real System and Virtual System

宇宙ロボット（操作対象）と単車輪（仮想系）<br />Space Robot (Real System) and Single Wheel (Virtual System) — Space Robot (Real System) and Single Wheel (Virtual System)

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