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The International Journal of Robotics Research
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A Tele-operated Humanoid Operator

Kazuhito Yokoi

Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan, Kazuhito.Yokoi{at}aist.go.jp

Katsumi Nakashima

System Technology Development Center, Kawasaki Heavy Industries, Ltd., 1-1, Kawasaki-chou, Akashi 673-8666, Japan, nakasima{at}tech.khi.co.jp

Masami Kobayashi

System Technology Development Center, Kawasaki Heavy Industries, Ltd., 1-1, Kawasaki-chou, Akashi 673-8666, Japan, kobayasi{at}tech.khi.co.jp

Humisato Mihune

System Technology Development Center, Kawasaki Heavy Industries, Ltd., 1-1, Kawasaki-chou, Akashi 673-8666, Japan, mifune{at}tech.khi.co.jp

Hitoshi Hasunuma

System Technology Development Center, Kawasaki Heavy Industries, Ltd., 1-1, Kawasaki-chou, Akashi 673-8666, Japan, hasunuma{at}tech.khi.co.jp

Yoshitaka Yanagihara

Institute of Technology, Tokyu Construction Co., Ltd. 3062-1, Soneshita, Tana, Sagamihara, Kanagawa 229-1124, Japan, yanagihara.yoshitaka{at}tokyu-cnst.co.jp

Takao Ueno

Institute of Technology, Tokyu Construction Co., Ltd. 3062-1, Soneshita, Tana, Sagamihara, Kanagawa 229-1124, Japan, ueno.takao{at}tokyu-cnst.co.jp

Takuya Gokyuu

Institute of Technology, Tokyu Construction Co., Ltd. 3062-1, Soneshita, Tana, Sagamihara, Kanagawa 229-1124, Japan, gokyuu.takuya{at}tokyu-cnst.co.jp

Ken Endou

Institute of Technology, Tokyu Construction Co., Ltd. 3062-1, Soneshita, Tana, Sagamihara, Kanagawa 229-1124, Japan, endou.ken{at}tokyu-cnst.co.jp

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.

Key Words: humanoid robot • tele-operation • remote control • industrial vehicle • backhoe • master arm • master foot

The International Journal of Robotics Research, Vol. 25, No. 5-6, 593-602 (2006)
DOI: 10.1177/0278364906065900
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