Dual-arm robot teleoperation support with the virtual world

摘要

This paper describes the construction of an operator support system for teleoperation of dual-arm robots in the real world and the virtual world. The robot simulator Choreonoid was implemented to create a virtual space. We focus on dual-arm robot teleoperation in particular because it is difficult for the operator to operate a dual arm with one controller. In the verification experiment for usability, through the use of questionnaires and statistical analysis, we show that it is possible to reduce the risks involved in dual-arm operation for a novice teleoperator by comparing the case when the virtual space was confirmed with when it was not.