不整地狭小空間における不整地移動マニピュレータの遠隔操作支援システムの構築;不整地狭小空間における不整地移動マニピュレータの遠隔操作支援システムの構築;Teleoperation Assist System for All-terrain Mobile Manipulator in Narrow and Rough Environment

In order to perform surveillance missions in case of natural/human-caused disasters, all-terrain mobile manipulators are useful tools for rescue crews’ safety. It has a capability to traverse on rough terrain, and to handle objects with the mounted manipulator. For example, the mobile manipulator “Packbot” opened a door in Fukushima Daiichi Nuclear accident in 2011. However, it is well-known that it requires a lot of skill for its teleoperation, particularly in case of missions in narrow and rough terrain. Based on our ex-researches, we found the following issues: (1) According to the rough terrain, the pose of the manipulator is not fitted with the inertial frame of reference, and it prevents an intuitive teleoperation. (2) In narrow areas, the manipulator contacts with the environment because of the lack of environmental information. (3) Communication delay makes more difficult for teleoperation. To solve the above issues, in this research, we implemented a base-altitude synchronous type master-slave controller for the issue (1), teleoperation system with vision and 3D information for the issue (2), and anti-communication-delay-system with 3D point cloud information for the issue (3). To evaluate the above system, we conducted some experiments with non-skilled operators. In this paper, we describe the above system implementation, and report the experimental results to evaluate the above system.