A friendly and human-based teleoperation system for humanoid robot using joystick

This paper puts forward a teleoperation system to control humanoid robot BHR-02 using joystick, which is convenient and simple for manipulation. This teleoperation system gives a friendly and human-based operation interface. And the system provides a switching command method for users to choose the part of the robot to operate using the joystick. Moreover the on-line trajectory switching is realized in the system, with which the robot can switch trajectory between tasks seamlessly.