仮想マリオネットシステムによる脚型ロボットの遠隔操作

第二報：仮想空間における接触判定・接触応答およびカメラのドリー機能による操作性の向上

抄録

In recent years, rescue robots have been put into the disaster site globally, and are used for situation survey and search for required rescuers. However, it is cited as a problem that the practice time of the operator is long. Therefore, we developed a virtual marionet system in the previous research. As a problem of the conventional virtual marionette system, the success rate of the ladder reversion is low. To solve this problem, we introduced a haptic response using the penalty method by judging the contact between the environmental model in the space and the robot model. In addition, a dolly function of the camera was newly installed to improve operability.