Fundamental development of a virtual reality simulator for four-arm disaster rescue robot OCTOPUS

Kui Chen, Mitsuhiro Kamezaki*, Takahiro Katano, Junjie Yang, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ721-726
ページ数6
ISBN(電子版)9781509020652
DOI
出版ステータスPublished - 2016 9 26
イベント2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
継続期間: 2016 7 122016 7 15

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
国/地域Canada
CityBanff
Period16/7/1216/7/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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