다관절 해저로봇 CR200의 원격 운용을 위한 HMI

Abstract

The Maritime and Ocean Engineering Research Institute (MOERI), a branch of the Korea Institute of Ocean Science & Technology (KIOST), has developed a 200-m class walking robot, named CR200, which works in shallow and strong tidal current environment by crawling sea floor. This paper presents human-machine interface (HMI) for remote operating of the CR200. Operators can steer the CR200 using four joysticks and a touchscreen monitor. One joystick is for posture, another is for movement, and the others are for manipulator. We have developed agent program, pilot program, and 3D viewer program for interface with the CR200. Agent program, that is main software, interfaces remote control unit with the CR200. Pilot program provides user interface for remote control of the robot, and 3D viewer program displays 3D posture of the robot in real time. We conducted on-lend tests and first sea trial at KIOST’s South Sea Research Institute (SSRI) in July 2013. The CR200 walked and changed posture well on the seabed 5 to 7 meters depth.vironment by crawling sea floor. This paper presents human-machine interface (HMI) for remote operating of the CR200. Operators can steer the CR200 using four joysticks and a touchscreen monitor. One joystick is for posture, another is for movement, and the others are for manipulator. We have developed agent program, pilot program, and 3D viewer program for interface with the CR200. Agent program, that is main software, interfaces remote control unit with the CR200. Pilot program provides user interface for remote control of the robot, and 3D viewer program displays 3D posture of the robot in real time. We conducted on-lend tests and first sea trial at KIOST’s South Sea Research Institute (SSRI) in July 2013. The CR200 walked and changed posture well on the seabed 5 to 7 meters depth.