6脚ロボットの遠隔操縦システムのための脚配置計画

抄録

The teleoperation system for the hexapod robot is proposed to assist the walking on the environment cluttered with obstacles. The teleoperation interface allows the operator to command the moving direction, and the robot automatically plans the landing points and walks along with the commanded direction in the obstacle environment. In the proposed method, the the teleoperation interface converts the operator input to the virtual target point on the moving direction in the local map consisting of the measured area and the free area . The virtual target position must be arranged to the position that the planned walking trajectory is along the intention of the operator. In this paper, focusing on the reduction of the computation time of the leg allocation planning, the frame work of the real-time remote control system is proposed and it is confirmed the effectiveness by the simulation.