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Whole body teleoperation of a humanoid robot - a method of integrating operator's intention and robot's autonomy

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5 Author(s)
Neo Ee Sian ; Graduate Sch. of Syst. & Inf. Eng., Tsukuba Univ., Japan ; Yokoi, K. ; Kajita, S. ; Kanehiro, F.
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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 subconscious 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.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:2 )

Date of Conference:

14-19 Sept. 2003