遠隔操作法の実験とその評価

Abstract

A remote operating system is required to control reliably and effectively, and to be used easily. As the remote operating system with legs, arms, hands, eyes and ears correspond to the human's ones is increasing the operation task, it is hard for only one human operator to control the operating tasks reliability and effectively. And so we consider it necessary the new method to operate with sensuous operation using the operator's knowledge and experience, and in this method, to control the slave-manipulator and ITV camera as if he felt with his own arms, hands, eyes and ears. In this paper, to develop the new method, we have made the experiments of ITV camara control test using joy stick lever, the voice command, operator's eyes and neck motion, and discriminating the direction of sound source test using ITV camera with the microphone. As the results, in the former test, it becomes clear that the voice command control mode and operater's neck control mode are able to be used instead of joy stick control mode, and we have extracted the factors of evaluating the operability. In the latter test, that is the dummy head that can be turned with the microphones is able to be used for discriminating the direction of sound source in the field, also is able to get the existence in the field.