| 研究実績の概要 |
We have developed hybrid (integrated walkability and flyability) robot for Inspection and maintenance of steel structure. In order to stabilise our robot in 3D space, we developed a vibration control based on a vibrator to compensate vibration generated from joint actuators when the robot is flying. We tested our algorithm in a simulation where a vibration was compensated based on LQG control. Also, to allow a robot to freely move in all direction in a complex 3D environment, we test tilted flight control in simulation where robot fly in the orthogonal direction successfully.
Furthermore, we have developed a novel interface for robot teleoperation that provides a user with environment-adaptive viewpoints that are automatically configured to improve safety and provide smooth operation. This real-time adaptive viewpoint system takes robot position, orientation, and 3D pointcloud information into account to modify the user's viewpoint to maximize visibility. Our prototype uses simultaneous localization and mapping (SLAM) based reconstruction with an omnidirectional camera, and we use the resulting models as well as simulations in a series of preliminary experiments testing navigation of various structures. Results suggest that automatic viewpoint generation can outperform first and third-person view interfaces for virtual teleoperators in terms of ease of control and accuracy of robot operation.
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