Verification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Robot

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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
According to the concept of telexistence, even telexistence with scale conversion requires control of a robot to maintain the same attitude as that of the operator. However, a mismatch arises between the posture of a person and that of a robot because gravity between the operator and the robot is not subjectively equivalent. Our previous research demonstrated the motion of standing from a sitting position in telexistence with scale conversion using a dynamic control method, which can subjectively achieve the equivalent gravity condition between operator and robot. Acceleration in the forward direction is required to move from a standing position to walking at a constant speed. However, the moment compensation device does not consider the motion that produces acceleration in the forward direction. In this research, we achieve the equivalent gravity state without using a moment compensation device and verify the feasibility of generating walking motion from a standing position.
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@inproceedings{
10.2312:egve.20181312
, booktitle = {
ICAT-EGVE 2018 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments
}, editor = {
Bruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sue
}, title = {{
Verification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Robot
}}, author = {
Matsumoto, Kohei
 and
Furukawa, Masahiro
 and
Wada, Kosuke
 and
Kurokawa, Masataka
 and
Miyamoto, Hiroki
 and
Maeda, Taro
}, year = {
2018
}, publisher = {
The Eurographics Association
}, ISSN = {
1727-530X
}, ISBN = {
978-3-03868-058-1
}, DOI = {
10.2312/egve.20181312
} }
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