An experimental study of teleoperation system for walking robots using high-speed image stabilization system

摘要

Walking robots have high adaptability for terrain variation, and thus, have been expected as effective moving platform on uneven terrain, stairs, forest, marshy surface, and on ice. On the other hand, mobile robots that perform several hazardous tasks such as mine detection or the inspection of an atomic power plant are typically controlled by operators from distant places. For a teleoperation system, use of visual information from a camera mounted on a robot body is very useful. However, unlike wheeled vehicles, the camera mounted on the walking robot oscillates because of the impact of walking, and the obtained unstable images cause inferior operation performance. In this paper, we introduce an image stabilization system for teleoperation of walking robots using a high speed CCD camera and gyrosensors. The image stabilization is executed in two phases, that is, the estimation of the amount of oscillation by the combination of the template matching method and gyrosensors, and change of the display region. Pentium MMX instruction is used for template matching calculation, and the estimated amount of oscillation is given in every 12 [msec]. Furthermore. developed image stabilization mechanism can he used an external attitude sensor from the visual information, and the damping control of the robot body while walking is also possible. Experimental results showed stabilized images that eliminates the oscillation component are taken even when the robot moves dynamically or iii long distance, and verified that the performance of attitude control using the developed image stabilization system is almost same as the case using an attitude sensor.