Name
Title | ||
|---|---|---|
Whole Body Teleoperation Of A Humanoid Robot - A Method Of Integrating Operator'S Intention And Robot'S Autonomy |
Abstract | ||
|---|---|---|
This paper proposes a new method for the teleoperation of humanoid robots which integrates human operator's intention with robot's autonomy. Getting hints from human conscious and subconsious; motion generations, we propose a method which generates whole body motions of a humanoid robot satisfying operator's desired movement of specific points on which the operator focuses as well as the robot's balance. The proposed method is based on a whole body momentum control. We also introduce a function of automatic adjustments of the position of the center of mass and torso orientation in order to expand the reachable area of a humanoid robot. The effectiveness of the method is confirmed by using humanoid robot simulator OpenHRP with physical parameters of real humanoid robot HRP-1S. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ROBOT.2003.1241825 | 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS |
Keywords | Field | DocType |
stability,center of mass,motion control,satisfiability,mobile robots,humanoid robot,telerobotics | Teleoperation,Social robot,Robot control,Computer vision,Personal robot,Robot kinematics,Robot end effector,Control engineering,Artificial intelligence,Engineering,Mobile robot,Humanoid robot | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
Citations | PageRank | References |
20 | 1.89 | 5 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ee Sian Neo | 1 | 97 | 10.27 |
| kazuhito yokoit | 2 | 2321 | 201.02 |
| Shuuji Kajita | 3 | 3008 | 271.45 |
| Fumio KANEHIRO | 4 | 2304 | 204.18 |
| kazuo tanie | 5 | 2105 | 345.46 |