Solving Technical Difficulties in Implementing Teleoperated Biped Walking on NAO Robot

This paper presents a solution for implementing a step-by-step teleoperation scheme on a humanoid robot NAO. The teleoperation scheme enables the user to manipulate the robot's foot movements in a step-by-step manner using a pair of hand-held point devices with 3 degrees of freedom (DOFs) each. The controller for real robots suffers from errors resulting from factors such as material elasticity, motor performance, and sensor functionality. To solve the technical difficulties associated with implementing the scheme, we propose a solution that incorporates a virtual model and utilizes the divergent component of motion (DCM) feedback control. The DCM feedback control is realized by the center of mass (COM) admittance control and is enhanced by the angular momentum control. The teleoperated bipedal walking and fast swing of one leg experiments were conducted to validate the proposed solution.