ハイブリッドシミュレータ及び操作用ウェアラブルデバイスによる遠隔操作システムの開発

―災害対応ロボット用マスタースレーブ遠隔操作システムの開発―

抄録

Most of the UGV-type (Unmanned Ground Vehicle) disaster response robots are equipped with a manipulator (also called robotic arm), which is conventionally operated by a gamepad-type controller. This kind of controller can be difficult to use if each button operates a single link of the robotic arm．As a solution to this difficulty，a more intuitive operation method is proposed. In this study, a teleoperation system is being developed by establishing a master-slave system’s communication using ROS (Robot Operating System) between a wearable device that attaches to the operator’s arm (master) and a hybrid simulator called Choreonoid that emulates the behavior of a 6 DOF robot manipulator (slave). An experimental investigation is carried out to evaluate the effectiveness of the proposed method against the conventional gamepad.