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Title:
ROBOT REMOTE OPERATION CONTROL DEVICE, ROBOT REMOTE OPERATION CONTROL SYSTEM, ROBOT REMOTE OPERATION CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/209924
Kind Code:
A1
Abstract:
In a first invention, provided is a robot remote operation control device that: estimates, when an operator remotely operates the robot and on the basis of operator state information, an intention of an operation that the operator is attempting to cause the robot to perform; and determines a method for gripping an article based on the estimated operation intention.　In a second invention, provided is a robot remote operation control device that: estimates, when an operator remotely operates the robot and on the basis of a robot environment sensor value and an operator sensor value, an operation of the operator; replaces, on the basis of the estimated operation of the operator, a command related to a degree of freedom of a portion of the operation of the operator with an appropriate control command; and generates the control command by reducing the degree of freedom of the operation of the operator.　In a third invention, provided is a control device for robot remote operation that: estimates, when an operator remotely operates the robot and on the basis of information about an operating environment and an operation state of the robot, an operating state of the robot; and determines, when generating, on the basis of the information about the operation state, a control command causing an effector of the robot to operate thereby driving/controlling the robot, the control command, such determination being on the basis of a characteristic parameter related to a control characteristic corresponding to the operation state.　In a fourth invention, provided is a control device for robot remote operation that: determines, when an operator remotely operates the robot and on the basis of operating information of the robot and information about an operation state, a predicted trajectory of an effector of the robot from the current time to a predicted time after a predetermined amount of predicted time; and generates a control command on the basis of the predicted trajectory.

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Inventors:
WATABE TOMOKI (JP)
MIZUTANI AKIRA (JP)
CHIKU TAKESHI (JP)
DONG YILI (JP)
CHAKI TOMOHIRO (JP)
TSUKAMOTO NANAMI (JP)
HOSOMI NAOKI (JP)
KONDAPALLY ANIRUDH REDDY (JP)
YOSHIIKE TAKAHIDE (JP)
GOERICK CHRISTIAN (DE)
RUIKEN DIRK (DE)
BOLDER BRAM (DE)
FRANZIUS MATHIAS (DE)
MANSCHITZ SIMON (DE)
Application Number:
PCT/JP2022/012089
Publication Date:
October 06, 2022
Filing Date:
March 16, 2022
Export Citation:
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Assignee:
HONDA MOTOR CO LTD (JP)
International Classes:
B25J13/00; B25J13/02
Domestic Patent References:
WO2019059364A12019-03-28
Foreign References:
JP2018153874A2018-10-04
JP2005161498A2005-06-23
JP2019215769A2019-12-19
JPS62199376A1987-09-03
JP2006212741A2006-08-17
JPS6434687A1989-02-06
JPH08281573A1996-10-29
JP2016144852A2016-08-12
JP2020156800A2020-10-01
JP2017196678A2017-11-02
JP2019217557A2019-12-26
JP6476358B12019-02-27
JP2021058952A2021-04-15
JP2021061137A2021-04-15
JP2021060914A2021-04-15
JP2021060904A2021-04-15
JP6476358B12019-02-27
Other References:
THOMAS FEIXJAVIER ROMERO: "IEEE Transactions on Human-Machine Systems", vol. 46, February 2016, IEEE, article "The GRASP Taxonomy of Human Grasp Types", pages: 66 - 77
Attorney, Agent or Firm:
TAZAKI Akira et al. (JP)
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