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Teleoperation system using past image records (SPIR) is a system that provides the third-person view image to the operator for the robot operation. The image is visually generated by overlaying the CG model of the robot on the background image taken by the robot-mounted camera at a past time. In this paper, we proposed a new user interface based on SPIR for the teleoperation of a mobile manipulator...
This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high-speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the center of gravity of the whole robot including...
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