Teleoperation system using past image records for legged robot

Teleoperation system using past image records (SPIR) is a system that shows the virtual trailing view using recorded images from previous times. In this system, the operator can control the robot intuitively by seeing the trailing view and the superimposed robot computer graphics (CG) model only using only a front facing camera on the robot. The preexisting time follower´s vision was developed for wheeled vehicles. Legs may be more capable of dealing with uneven terrain and would also be capable of performing useful manipulation tasks. A legged robot with pneumatic actuators could also be capable of higher forces and thus be able to perform additional tasks. To operate a legged robot using SPIR, we have to consider many things, such as leg joint angles, contact of the feet with the ground, swing motion of the camera, and so forth. In this study, we propose a new user interface of SPIR for legged robot.