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Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006
Special Issue on the Ninth International Symposium on Experimental Robotics, 2004
 
A Tele-operated Humanoid Operator
 
K. Yokoi Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan, K. Nakashima, M. Kobayashi, H. Mihune, H. Hasunuma System Technology Development Center, Kawasaki Heavy Industries, Ltd., 1-1, Kawasaki-chou, Akashi 673–8666, Japan, Y. Yanagihara, T. Ueno, T. Gokyuu, and K. Endou Institute of Technology, Tokyu Construction Co., Ltd., 3062-1, Soneshita, Tana, Sagamihara, Kanagawa 229–1124, Japan
 
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 remote-control 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.
 
Multimedia Key
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Example 1: HRP-1S drives a lift truck. (7.0 MB)
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Example 2: Summaried video of this paper: HRP-1S drives a backhoe. (28.6 MB)
 
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