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In the paper, we propose a method for improving maneuverability of master-slave systems. We aim for reproducing human skillfulness and dynamic performance in master-slave robots by using assist control for human operators. In this paper, we focus on a reaching task of a master-slave robot and propose an operation assist algorithm based on visual feedback control. It consists of visual recognition of an object for a slave robot, prediction of operator's motion by a particle filter, estimation of a target for grasping, assist control of the reaching motion. Finally, the validity of the proposed method is verified in a master-slave robot system.
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Negishi et al. (2016) studied this question.
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