Paper Info
Title
Whole Body Teleoperation Of A Humanoid Robot Integrating Operator'S Intention And Robot'S Autonomy - An Experimental Verification
Abstract
This paper presents a whole body teleoperation system for a humanoid robot integrating operator's intention and the robot's autonomy. Instead of giving command to all the joints of the body, we have been proposing a switching command based teleoperation system of which the operator selects only the necessary points of the robot's body to manipulate depending on the required tasks. We have also proposed a whole body motion generation method which satisfies both the desired movement of specific points of the robot's body and the robot's balance constraint. This paper first explains the concept of the proposed teleoperation system and the autonomous functions for maintaining balance and expanding the reachable area of a humanoid robot. Then the paper reports on the experimental results using the proposed methods to teleoperate a real humanoid robot HRP-1S to perform balanced whole body motions satisfying operator's input command (see video).
Year
DOI
Venue
2003
10.1109/IROS.2003.1248881
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4
Keywords
Field
DocType
telerobotics,humanoid robot,satisfiability,motion control
Social robot,Computer science,Control engineering,Artificial intelligence,Humanoid robot,Robot control,Computer vision,Robot calibration,Simulation,Robot kinematics,Robot end effector,Mobile robot,Articulated robot
Conference
Citations 
PageRank 
References 
20
1.50
6
Authors
4
Name
Order
Citations
PageRank
Ee Sian Neo19710.27
kazuhito yokoit22321201.02
Shuuji Kajita33008271.45
kazuo tanie42105345.46