Development of visual display with anti-vibration system for camera on MIT Cheetah robot

抄録

Recently, quadruped robots such as the MIT Cheetah robot are developed to obtain accessibility to hazardous situations where humans cannot survive. Due to the running motion of the quadruped robot, however, the camera view from the robot is unsteady and difficult to be aware of the situation around the robot. In this paper, we propose an anti-vibration system for camera to provide a steady image and intuitive human-machine interface for control of the camera view. By using motors, the rotational motion of the camera can be stabilized in three directions regardless of any movement of the robot. The direction of the camera view is controlled by following the movement of the operator's head using an IMU sensor. Applicability to cheetah robot was verified through experiment.