Artificially Enhanced Tele-operated Humanoid Robot

This paper proposes an Artificially Enhanced Tele-Operated Humanoid Robot System, henceforth referred to as AETHR. Our proposed system enables a Humanoid robot to mimic human activities like walking, running, grasping etc. using a depth sensor and by generating skeleton markers which are further processed to calculate angles between various joints of the body. These angles produced are normalized to the dimension of the Robot and passed onto the various actuators present in the robot. A vision unit is present at the head of the user acts as a tele-visual unit for the user to monitor the surroundings of the robot through RGB feed of a camera present at the head of the robot. This camera feed is encoded and sent to the display unit worn by the user. In addition to these, an Inertial Measurement Unit, further referred as IMU, attached to the display unit provides the orientation of the Users head and is synchronized with the head actuators of the robot, enabling the user to freely monitor the robots surrounding. Robot Operating System, further referred to as ROS, is used for Inter-Process Communication for joining the various nodes present in the system thereby producing an fully tele-operated humanoid robot.