Human and robot integrated teleoperation

Abstract

For robot path generation, a lot of researches have been done including automatic path planning, and teaching/playback. Teleoperation is commonly used in order to control a robot from remote site, dealing with unknown environment. To increase the accuracy and the reliability of teleoperation, close interaction between human and the slave robot is required. KIST is developing a Humanoid robot, which has two arms, two hands, a waist and a neck. Automatic path planner which takes advantage of redundancy is also developed. For some tasks, which is very complex, or interacting with environments, robot path can be generated very easily and accurately by human teaching. Therefore, a new way of integration of human and the robot is developed.