The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 1A1-H02
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1A1-H02 Tele-operation of Hydraulically Actuated Hexapod Robot COMET-IV
Hiroshi OOROKU, Masaki OKU, Yuji HARADA, Kosuke FUTAGAMI, Xiaowu LIN, Hidetaka KOSEKI, Satoru SAKAI, Kenzo Nonami
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Keywords: Hexapod Robot, Tele-operation, Remote control
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Abstract
The multi-purpose hexapod robot COMET-IV which we have developed is driven by hydraulic power. In general, mobile robots are operated by remotely human. It is necessary for mobile robot to achieve safety walking and a high trajectory performance in unknown outdoor environments. The system consists of omni-directional image camera and joystick that is tool for walking instruction, and we use a WLAN. Arbitrary viewpoint image generated from omni-directional video stream is exhibited to user. In this paper, we propose Tele-operation system of hexapod robot COMET-IV with real-time gait and trajectory planning. And by experiments, we confirm the efficiency of proposed system.
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© 2008 The Japan Society of Mechanical Engineers
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