Legged Robot Teleoperation System using Past Image Records
Yasuaki Konishi, Ryosuke Murata, Noritara SATO, Takahiro Endo, Fumitoshi Matsuno · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
Teleoperation system using past image records (SPIR) is a system that shows the image of the robot and the surrounding environment from a third person viewpoint to an operator. The image is created by superimposing a CG model reflecting a current pose of the robot on the background image captured by the camera mounted on the robot in the past. In this paper, we propose a new teleoperation system based on SPIR for a teleoperated legged robot. Legged robots are capable of moving on uneven terrain and stepping over obstacles with their legs. By using the proposed system, the operator can easily recognize legs' state of the legged robot and the surrounding environment, and can perform tasks well.