Takao Ueno , Takuya Gokyuu and Ken Endou

نویسندگان

  • Takao Ueno
  • Takuya Gokyuu
  • Ken Endou
  • Kazuhito Yokoi
  • Katsumi Nakashima
  • Masami Kobayashi
  • Humisato Mihune
  • Hitoshi Hasunuma
  • Yoshitaka Yanagihara
چکیده

This is the first successful trial of remotely controlling a humanoid robot to drive an industrial vehicle in lieu of a human operator. These results were achieved through the development of three technologies: 1) remote-control technology to instruct the humanoid to perform total-body movements under remote control 2) a remotecontrol system to execute tasks, and protection technology to protect the humanoid against the shock and vibrations of its operating seat and against influences of the natural environment, such as rain and dust, and 3) full-body operation-control technology to autonomously control the humanoid’s total-body movements to prevent the robot from falling over. The humanoid has promising application potential for restoration work in environments impacted by catastrophes and in civil-engineering and construction-project sites where it can work safely and efficiently. The International Journal of Robotics Research Vol. 25, No. 5–6, May–June 2006, pp. 593-602 DOI: 10.1177/0278364906065900 ©2006 SAGE Publications Figures appear in color online: http://ijr.sagepub.com KEY WORDS—humanoid robot, tele-operation, remote control, industrial vehicle, backhoe, master arm, master foot

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تاریخ انتشار 2006