Development of Pilot Assistance System with Stereo Vision for Robot Manipulation

The rescue robot "T-52 Enryu" has two arms to do various work and this robot can be operated directly or remotely. Particularly, for the remote control of this robot, the device with which a pilot can easily understand the position of the object and the robot in the working environment is necessary to help him and to improve the efficiency of work. Therefore, we developed a pilot assistance system that helps the pilot of Enryu by displaying the relation of the position between the grippers of arms and the work object in the touch panel monitor. The system tracks the points on the target objects specified by the pilot, and displays the distances to them at the same time. In this paper, we introduce the developed pilot assistance system, and the results of installing the system into the robot are described