Marionette System for Operating and Displaying Robot Whole-Body Motion

Generation and observation of whole-body motion for a multi-joint robot is often difficult for its complicated structure. We propose Marionette System to provide an intuitive teleoperation system. Marionette system serves as an operating/displaying device, employing a small robot which possesses a similar form to the target robot. The so-called "Marionette Device", which provides operational feeling like handling a marionette, possesses several advantages: simultaneous operation and presentation, intuitive operation of all movable joints, and display of robot motion in an easy-to-understand way.