A Simulation and Monitoring System for the Humanoid Robot BHR-02 Teleoperation
Most existing teleoperation system for humanoid robot by using the video camera does not fit to the poor visibility situation. Also a visual instruction prediction interface can give operators the preview of the operation instruction result which is useful for the complex task and the operator training. This paper presents a method to reconstruct the virtual scene of the humanoid robot teleopreation. A virtual robot interface is built to render the data of the humanoid robot BHR-02. It has the same DOF configure and the same size scale as the real robot. Based on the virtual interface, a simulation and monitoring system is built for the humanoid robot teleoperation. As a simulator, the interface can render data of the teleoperation instructions. As a monitor, the interface can render the multiple real-time feedback data from the robot. Some experiments are done to confirm the effectiveness of the system.
Humanoid robot. Teleoperation. Simulation.Real time monitor.
Lei ZHANG Qiang HUANG Yuepin LU Tao XIAO Jiapeng YANG
Department of Mechatronic Engineering Beijing Institute of Technology 5 Nandajie, Zhongguancun, Haidian, Beijing, China, 100081
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
695-700
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）