TY - GEN
T1 - Development of Visual Remote Operation System for Low-Gravity Planet Rover
AU - Shimizu, Sota
AU - Takewaki, Ryoya
AU - Murakami, Rei
AU - Kameyama, Naoaki
AU - Motoi, Naoki
AU - Yamazaki, Tatsuya
AU - Hasebe, Nobuyuki
N1 - Funding Information:
This study was partially supported by JSPS Grants-in-Aid for Scientific Research No.18K04055.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - In this paper, the authors propose a visual remote operation system of the vehicle type of mobile robot for lunar exploration, i.e., the low-gravity planet rover. This rover has a unique mechanical part to shift its center of gravity, namely COG shift box, for its high-speed and stable driving. High-resolution Wide Angle Fovea (WAF) sensor, equipped on the rover, characterizes our proposed visual remote operation system as follows: (1) High-Resolution WAF sensor provides the operator with enough wide-angle field of view (FOV) to achieve safe navigation of the rover. (2) The view direction control of High-Resolution WAF sensor, by the eye-tracking device embedded on HMD, enables the operator to observe targets, to which he/she should pay attention, more in detail in order to make his/her better decision of navigating the rover. In addition, by displaying images remapped from the input image of High-Resolution WAF sensor, we expect to solve the bottleneck problem of data transmission. (3) The input image from High-Resolution WAF sensor is also applied for autonomous navigation of the rover.
AB - In this paper, the authors propose a visual remote operation system of the vehicle type of mobile robot for lunar exploration, i.e., the low-gravity planet rover. This rover has a unique mechanical part to shift its center of gravity, namely COG shift box, for its high-speed and stable driving. High-resolution Wide Angle Fovea (WAF) sensor, equipped on the rover, characterizes our proposed visual remote operation system as follows: (1) High-Resolution WAF sensor provides the operator with enough wide-angle field of view (FOV) to achieve safe navigation of the rover. (2) The view direction control of High-Resolution WAF sensor, by the eye-tracking device embedded on HMD, enables the operator to observe targets, to which he/she should pay attention, more in detail in order to make his/her better decision of navigating the rover. In addition, by displaying images remapped from the input image of High-Resolution WAF sensor, we expect to solve the bottleneck problem of data transmission. (3) The input image from High-Resolution WAF sensor is also applied for autonomous navigation of the rover.
KW - center of gravity shift box
KW - eye-tracking device
KW - high-resolution wide angle fovea vision sensor
KW - low gravity planet rover
KW - parallel wheel system
KW - visual remote operation
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U2 - 10.1109/ICMECH.2019.8722907
DO - 10.1109/ICMECH.2019.8722907
M3 - Conference contribution
AN - SCOPUS:85067128017
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 461
EP - 466
BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -