双腕不整地移動ロボットにおけるROS2を用いた遠隔作業操作システムの実装

抄録

We have developed a teleoperation system for a transportation task by a tracked robot with two manipulators. The Robot Operating System 2 (ROS2) was installed in the system. We newly made a new ROS2 package so that the robot can control the motors for joints of manipulators and tracks driving by a microcomputer. The operator can control a motion of the robot remotely by a joystick operation in observing images sent from a camera on the robot. The experimental results confirmed that the robot was able to perform an object-carrying task by two arms smoothly by a remote operation using the system.