Teleoperation system using past image records for mobile manipulator

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. By using the proposed user interface, the operator can control the end effector´s position and orientation intuitively while looking the end effector from the third-person viewpoint.