20809 Extending Operation Commands with a Spherical Human Interface Device for Robots

Abstract

We have developed a spherical handheld input device f ( )rrobots ． It is inteded fornon − technical usrs ， rather than robotics experts ， to send comrriands to the robots ． The device has a 3D angular velocity sensor and three acceleration sensors ． By reading output from these sensors ， the computer can decode commands fibm movements of the deyice ． We propose expansion of operation commands with the device ， and conduct some experiments ． ln this paper ， we discuss mapping from device inputs to commands for robots ． As an example ， we nied to make a robot dance using this device ． KCy Words ： specical ， robot ， threshold ， template ， matching ， frequncy analysis 1．緒