ロボット遠隔操作のための高臨場感視覚提示システムの開発(<特集>遠隔操作システム)

抄録

This study is conducted under the Ministry of Economy Trade and Industry (METI) project, "Humanoid Robotics Project (HRP)". One of the objectives of this project is to develop a cockpit system which enables an operator to control a humanoid robot at a remote site with sense of presence (Tele-existence Cockpit). We develop a tele-existence visual display system, which is the component of the cockpit. In this paper, we describe the design and development of the system. We classified tasks of the tele-operation into two tasks, locomotion task and manipulation task, and developed the visual display system so that it can display the images around the robot with sense of presence for both tasks. We confirmed the validity of our design through the several experimental examples of the developed system.