高所作業用飛行ロボット遠隔操作のための可動カメラと立体映像システム

抄録

We describe a stereo camera and HMD system for teleoperation of aerial manipulation robot. The aerial robot in this study consists of a hexarotor platform, a top-mounted gripper and a manipulator mounted at the bottom of the body. After fixing the robot by grasping a bar-like object using the top-mounted gripper, the bottom-mounted manipulator is used to perform manipulation tasks.The proposed system consists of an on-board stereo camera that can rotate and slide according to the movement of operator’s head. During the manipulation process, the movable stereo camera eliminate an occlusion and provides stereo perception to operator.