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Paper Abstract and Keywords
Presentation 2017-01-27 14:35
Gesture-Driven Remote Control of Robotic Hands for Extreme Environment
Akihito Chinen, Kiyoshi Hoshino (Univ. Tsukuba) CAS2016-109 ICTSSL2016-63
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we propose an operation support system which shows the spatial relation between a robotic hand and an object for the reduced usability and the increased fatigue due to the communication delay . Four seconds communication delay occurs during remote operation between the earth and the moon. In previous research, a commonly used method is one that feeds back the predicted position of a robotic hand after the communication delay to the user. However, this cannot make an accurate reaching motion necessary for grasping. Therefore, we try to show the spatial relation between a robotic hand and an object using three orthogonal rays each annotated with 1cm increments. Based on the results of our experimentation, the grasping success rate of the proposed method increases by 3.2 times. Moreover, the reaching time of robotic hand is shortened 34.6%. As a result, the proposed method is effective in making accurate reaching motions for grasping involving a series of actions.
Keyword (in Japanese) (See Japanese page) 
(in English) communication delay / the three orthogonal rays each annotated with 1cm increments / remote control of a robot on the moon / visual-servoing / / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 421, CAS2016-109, pp. 157-160, Jan. 2017.
Paper # CAS2016-109 
Date of Issue 2017-01-19 (CAS, ICTSSL) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2016-109 ICTSSL2016-63

Conference Information
Committee CAS ICTSSL  
Conference Date 2017-01-26 - 2017-01-27 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To CAS 
Conference Code 2017-01-CAS-ICTSSL 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Gesture-Driven Remote Control of Robotic Hands for Extreme Environment 
Sub Title (in English)  
Keyword(1) communication delay  
Keyword(2) the three orthogonal rays each annotated with 1cm increments  
Keyword(3) remote control of a robot on the moon  
Keyword(4) visual-servoing  
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Keyword(6)  
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1st Author's Name Akihito Chinen  
1st Author's Affiliation Tsukuba University (Univ. Tsukuba)
2nd Author's Name Kiyoshi Hoshino  
2nd Author's Affiliation Tsukuba University (Univ. Tsukuba)
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Speaker Author-1 
Date Time 2017-01-27 14:35:00 
Presentation Time 20 minutes 
Registration for CAS 
Paper # CAS2016-109, ICTSSL2016-63 
Volume (vol) vol.116 
Number (no) no.421(CAS), no.422(ICTSSL) 
Page pp.157-160 
#Pages 4 
Date of Issue 2017-01-19 (CAS, ICTSSL) 

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