Abstract:
Most existing teleoperation systems for humanoid robot by using the video camera do not fit to the poor visibility situation. In some application of the robot, such as telesurgery or to pick up a cup, it is not enough only getting the information like video information from camera or robot vision. The operator should know the accurate location of the robot and its target, VR technology makes it possible to monitor the robot based on virtual scene, to get the vision and location information. The focus of this paper is to present a novel controlling approach for humanoid teleoperation using virtual reality, such that the robot can work safely and accurately. In this regard the virtual / visual environment for humanoid BHR-2 teleoperation has been developed and joystick control interface for human robot interaction is developed to control BHR-2 motion. Software Maya is chosen for this work, which can perform all the vision related calculations. Experiments are conducted where walking motions are controlled using joystick commands to confirm the effectiveness of the method. The operator controls the walking motion for avoiding obstacle and for 3 steps or emergency stop by looking at virtual scene on his computer. This enhancement helps humanoid robot to have collision free maneuvering in case of poor vision feedback.
Page(s):
70-75
DOI:
DOI not available
Published:
Journal: New Horizons: Journal of the Institution of Electrical & Electronics Engineers Pakistan, Volume: 61, Issue: 2, Year: 2008