ヘビ型ロボット遠隔操作のための自己位置推定と環境提示

抄録

This paper describes visualization of a snake-like robot and its surrounding environment for teleoperation support. For visualization of the robot moving in the pipe, we propose the display of a self-position of the snake-like robot and piping shape. The self-position of the robot is estimated by introducing the notion of odometry to the snake-like robot. The piping shape is shown by drawing contact points obtained by the contact sensor mounted on the robot. For visualization of a snake-like robot moving in a large space, we propose the display of the surrounding environment with a laser sensor. The snake-like robot scans the environment three-dimensionally by swinging a head unit which has the laser sensor. As a result of visualizations, The robot moving in piping correctly shows the self-position of the robot and the state of the surrounding piping of the robot, therefore, it is effective for teleoperation support. In the case of the robot moving in a large space can visualize some objects in the environment, however, the obtained point clouds by the sensor were inclined because of the effect of the localization error of the robot.