Graduate School of Science and
Technology, Chiba
University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi,
Chiba, 263-8522, Japan
Abstract
Recently the development of the robotics technology is
remarkable. Currently most of the large scale robot
designed is focused on various task especially for the
hazardous operation and disaster situation such
earthquake. Therefore this research group has take a
part and designed a hydraulically actuated hexapod robot
namely as Chiba university Operating Mine detection
Electronics Tools (COMET) for multitasks on outdoor
situation with the unknown environment. For the extreme
environment cases, it is difficult to make it fully
autonomous. Therefore, teleoperation-based system has
been designed on the COMET-IV for extreme environment.
The teleoperation assistant system is designed to
understand the ambient environment and the movement
condition of the robot including the legged robot
changes which is effect the height of the body and
robot’s attitude. In this paper, this operator is
applied with omni-directional vision sensor and 3D robot
animation. The online 3D virtual reality technique is
proposed to make synchronous control between virtual 3D
animation and COMET-IV physical on the real environment.
The teleoperation assistant system is verified through
the experiment of the obstacle avoidance walking on the
outdoor environment.
Keywords:Tele-Robotics, Legged
Locomotion, Hydraulic Actuator, Virtual Reality, Human
Interface.
