P018

Development for Teleoperation Underwater Grasping System in Unclear

Environment

A0047 Makoto Utsumi Construction and Control Systems Department, Port and Airport Research Institute

A0048 Taketsugu Hirabayashi Construction and Control Systems Department, Port and Airport Research Institute

A0049 Muneo Yoshie Construction and Control Systems Department, Port and Airport research Institute

With redevelopment and restructure of harbor facilities, removing or

resetting structures and wave-dissipating blocks is necessary. These

works use mainly crane with slinging by a diver. Accident in this

work field is a matter of life and death. For this reason, it is

necessary that a grove and attachment of underwater backhoe type

teleoperation grasping system is introduced corresponding to various

size blocks or structures. On the ground, it is able to use a video

or eyes vision for teleoperation. However, in underwater, muddiness

caused by raising earth and sand disturbs vision. It is difficult to

recognize the shape and the center of gravity (COG) of a structure.

The efficiency of a grasping operation in water deteriorates.

Therefore, it is considered that the augmented reality (AR) method is

applied to the grasping system. In AR method of this research, plural

information that is extended or processed compensate for lack of

visual information. For this compensation, reaction force and tactile

sense is selected and force feedback bilateral control master-slave

system is constructed. The slave hand (grasper) traces a movement of

the master hand (controller), and does feedback reaction-forces that

act at finger to an operator through the master hand. Reaction-forces

and tactile sense give the operator a feeling of grasping.

Furthermore, utilize these forces for visualization of haptic image.

When fingers of the hand touch a structure, a polygon at the touched

point is drawn on the display. This polygon is called "haptic image

object ". Using this "haptic image object ", the operator can

understand the shape and COG of the structure easily. It became clear

that the visualization of haptic image is effective for the grasping

operation in poor vision by examinee experiments in a computer

simulation. And we developed a master-slave hand models for a next

step experiment. In this paper we present AR method and a validity of

this teleoperation system in underwater. This teleoperation method

benefits teleoperation technology in underwater.