Man-machine interface using steering wheel and pedals for a quadruped walking robot

A. Konno, Y. Mitsuya, N. Kato, M. Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    3 Citations (Scopus)

    Abstract

    For an easier and natural teleoperation of the quadruped walking robots, a user interface is developed with a steering wheel and an assembly of pedals, In order to change the speed and the direction of the quadruped walking robots according to the operation of the steering wheel and the pedals, an on-line gait transition method is developed. Using this human-machine interface and on-line gait transition, the operator can control the quadruped walking robots almost in the same way as a driver drives a car. A quadruped walking robot named JROB-2 is used in the experiments. As the steering wheel is also equipped with various control buttons, it is possible to assign various single command tasks, like "stand up" and "sit down" etc., to these buttons and hence control the robot for these tasks without even touching the keyboard or mouse. This paper presents the details of this interface.

    Original languageEnglish
    Pages57-62
    Number of pages6
    Publication statusPublished - 2001 Jan 1
    Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
    Duration: 2001 Jul 82001 Jul 12

    Other

    Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
    CountryItaly
    CityComo
    Period01/7/801/7/12

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Science Applications
    • Electrical and Electronic Engineering

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