**Appendix B**

tired, the success rate for step climbing decreased. The robots are connected by a link and are affected by the force exerted by each other. Therefore, when one or both operators lose concentration, the robots are not able to ascend the step.

7. It is reasonable to assume that conversation between the operators made up for

In the future, we intend to construct an augmented reality system to improve remote operability and to perform experiments to confirm its validity. In addition, we will construct an autonomous robot that has sensors and stereo cameras.

Overall length 315 mm Overall height 395 mm Radius of front wheels (*rA*) 45 mm Radius of rear wheels (*RA*) 80 mm Wheelbase (*lA*) 190 mm Position of gravity center (*lrA*) 82 mm Height of gravity center (*hmA*) 74 mm Link position from rear axle (*lLA*) 65 mm Height of link position (*hLA*) 40–240 mm Camera height (*hCA*) 40 mm Camera position (*lCA*) 95 mm Mass (*MA*) 11.2 kg Length of link (*d*) 200 mm

Overall length 315 mm Overall height 365 mm Radius of front wheels (*rB*) 45 mm Radius of rear wheels (*RB*) 80 mm Wheelbase (*lB*) 190 mm Position of gravity center (*lrB*) 92 mm Height of gravity center (*hmB*) 75 mm Link position from front axle (*lLB*) 50 mm Height of link position (*hLB*) 160 mm Camera height (*hCB*) 300 mm Camera position (*lCB*) 75 mm Mass (*MB*) 9 kg

lack of information during teleoperation.

*Industrial Robotics - New Paradigms*

**Appendix A**

**Table A1.**

**Table A2.**

**100**

*Specifications of* Robot B*.*

*Specifications of* Robot A*.*

Group *α* conducted 20 tests (maximum velocity 0.3 km/h). **Table B1** lists the experimental results. It can be seen that the success rate was improved from 85 (**Table 1**) to 95%. Based on interviews with subjects *s*<sup>1</sup> and *s*<sup>2</sup> (operators in group *α*), teleoperation in this manner was easier than using cameras on the robots. Although the experimental results were obtained using only one group, we are fairly certain that using an external camera is effective for teleoperation. If the environment does not allow for the placement of an external camera, the robots should have a sensor system that can show the status of the robots and the step for assistance in teleoperation.

### **Figure B1.**

*A schematic of the setup used in an experiment in which an external camera (iBuffalo BSW3KMW01, maximum frame rate: 30 fps) was used to view both the robots and the step together.*

### **Figure B2.**

*The robots did not have a camera on their body in this case, but the operators were able to determine the status of the robots using the external camera.*


### **Table B1.**

*Ratio of reason for failure of the robots to climb the step (0.3–0.5 km/h).*

*Industrial Robotics - New Paradigms*
