| Autor: |
Masafumi OKADA, Yutaka OKAMOTO, Ken MASUYA |
| Jazyk: |
japonština |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Nihon Kikai Gakkai ronbunshu, Vol 86, Iss 884, Pp 19-00320-19-00320 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2187-9761 |
| DOI: |
10.1299/transjsme.19-00320 |
| Popis: |
For robotic teleoperation, semi-autonomous control, i.e. autonomous control allowing human interposition will be an effective way overcoming delay of electrical communication and emergency operation. We have proposed semi-autonomous control method focusing on excavation in teleoperation environments. In the method, a model of human operation is designed and human internal state is estimated by Extended Kalman Filter. In this paper, experimental evaluations are conducted and reported about ”Digging” process. A human skill of excavation is modeled by an attractor-based dynamics embedding shallow and deep digging trajectories for soft and hard soil, respectively. An index parameter is changed based on the load of the bucket, and a seamless motion transition is realized satisfying the restriction by setting a threshold. Moreover, by adding a human operation to the autonomy, the proposed method will cope with the emergency, which is experimentally evaluated. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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