Direct teleoperation system of multi-limbed robot for moving on complicated environments

摘要

The paper describes a direct teleoperation system for multi-limbed robots to move on complicated environment. We construct an experimental system. In the system, we use a mini-robot as a teaching device, whose configuration is similar to the tele-robot. In direct teleoperation, a user manually operates the mini-robot, and the destination pose will be applied to the tele-robot. In our experimental system, a six-limbed robot “ASTERISK” is used as a target tele-robot, and a six-limbed mini-robot “mini-ASTERISK” has been developed. We confirm that “ASTERISK” in a virtual environment can move on high steps by direct teleoperation of a “mini-ASTERISK”.