TY - GEN
T1 - Fundamental development of a virtual reality simulator for four-arm disaster rescue robot OCTOPUS
AU - Chen, Kui
AU - Kamezaki, Mitsuhiro
AU - Katano, Takahiro
AU - Yang, Junjie
AU - Ishida, Tatsuzo
AU - Seki, Masatoshi
AU - Ichiryu, Ken
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported in part by the Industrial Cluster Promotion Project in Fukushima Pref., the Institute for Disaster Response Robotics, Future Robotics Organization, Waseda Univ., JSPS KAKENHI Grant No. 16K06196, the Research Institute for Science and Engineering, Waseda Univ., and the China Scholarship Council (CSC)
Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - This paper presents a virtual reality (VR) simulator for four-arm disaster response robot OCTOPUS, which has high capable of both mobility and workability. OCTOPUS has 26 degrees of freedom (DOF) and is currently teleoperated by two operators, so it is quite difficult to operate OCTOPUS. Thus, we developed a VR simulator for training operation, developing operator support system and control strategy. Compared with actual robot and environment, VR simulator can reproduce them at low cost and high efficiency. The VR simulator consists of VR environment and human-machine interface such as operation-input and video- and sound-output, based on robot operation system (ROS) and Gazebo. To enhance work performance, we implement indicators and data collection functions. Four tasks such as rough terrain passing, high-step climbing, obstacle stepping over, and object transport were conducted to evaluate OCTOPUS itself and our VR simulator. The results indicate that operators could complete all the tasks but the success rate differed in tasks. Smooth and stable operations increased the work performance, but sudden change and oscillation of operation degraded it. Cooperating multi-joint adequately is quite important to execute task more efficiently.
AB - This paper presents a virtual reality (VR) simulator for four-arm disaster response robot OCTOPUS, which has high capable of both mobility and workability. OCTOPUS has 26 degrees of freedom (DOF) and is currently teleoperated by two operators, so it is quite difficult to operate OCTOPUS. Thus, we developed a VR simulator for training operation, developing operator support system and control strategy. Compared with actual robot and environment, VR simulator can reproduce them at low cost and high efficiency. The VR simulator consists of VR environment and human-machine interface such as operation-input and video- and sound-output, based on robot operation system (ROS) and Gazebo. To enhance work performance, we implement indicators and data collection functions. Four tasks such as rough terrain passing, high-step climbing, obstacle stepping over, and object transport were conducted to evaluate OCTOPUS itself and our VR simulator. The results indicate that operators could complete all the tasks but the success rate differed in tasks. Smooth and stable operations increased the work performance, but sudden change and oscillation of operation degraded it. Cooperating multi-joint adequately is quite important to execute task more efficiently.
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U2 - 10.1109/AIM.2016.7576853
DO - 10.1109/AIM.2016.7576853
M3 - Conference contribution
AN - SCOPUS:84992315694
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 721
EP - 726
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -