成果報告書詳細
管理番号20150000000568
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 災害対応ヒューマノイドロボットHRPー2改の研究開発
公開日2016/1/27
報告書年度2014 - 2014
委託先名独立行政法人産業技術総合研究所
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約Title: R&D of disaster response humanoid robot: HRP-2Kai(FY2014-FY2015) FY2014 Annual Report

(1) Development of Disaster Response Humanoid
Towards the development of disaster response humanoid robots, it is desired that their hardware has (i) calculation processing capability for high autonomous function, (ii) physical ability for walking on uneven terrain together with a large step and a steep slope, and (iii) human-size body. To realize it, we rebuilt a humanoid robot HRP-2 which has a “(iii) human-size body” by improving its “(i) calculation processing capability” and “(ii) physical ability”.
For the improvement of “(i) calculation processing capability”, we replaced the computer systems. A Core i5 computer and a Core i7 computer were mounted in place of a couple of Pentium III computers. More powerful ATX power supply was implemented.
For the improvement of “(ii) physical ability”, link lengths and the joint configuration were reviewed by evaluating the simulation results that we tried out 8 tasks of DRC trials 2013 on the dynamic simulator: Choreonoid. Taking account of the evaluation, the arm link, the leg link, and the neck link were extended in comparison with the original HRP-2. The Yaw-Roll-Yaw wrist replaced the Yaw-Roll-Pitch wrist. The batteries system was also considered and the LiFe batteries were newly employed.

(2) Structured Teleoperation Interface
This project aims to use teleoperation by a human operator for the disaster response by a humanoid robot, and we have been developing a user interface for the teleoperation. For the disaster response, the amount of the network communication between the operator and the robot, the cost and time of setting the system, and the physical burden on the human operator should be reduced as much as possible. As a type of the teleoperation systems that can satisfy the conditions, we develop a graphical user interface (GUI) system that runs on a usual PC.
The goal of our teleoperation interface is to structure lower-level operation elements into higher-level ones to increase the efficiency and accuracy of the teleoperation by minimizing the manual operations by the human operator. As a basis towards this goal, we have developed the “task system”, which allows a user to describe procedures of performing a certain task as a “task scenario” consisting of a number of task phases. Task scenarios are written for particular tasks such as rotating valves and making a hole with a drill, and the operator can switch the task scenarios according to situations. By using the system, the operator can operate the robot just by proceeding the task scenario. For the phases which do not require the confirmation by the operator, the task scenario can be automatically performed. On the other hand, when unexpected situations happen, the operator can switch to manually use lower-level operations to handle the situations.
By using the system, we successfully automated the most operations in rotating valves, and the actual HRP-2 robot performed the 360 degree rotation of a valve within three minutes.
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