Optimal control of humanoid robot in long distance

Abstract

In emergency and hazardous environments, autonomous humanoid robots must make decisions based on the environment conditions. In addition, they must send information to human operator and receive high-level commands. In this paper, we apply intelligent algorithms in order to create an autonomous humanoid robot. In addition, a teleoperation system is developed to communicate with the humanoid robot in a long distance through Internet. The experiments using the 21 degree of freedom "Bonten-Maru" humanoid robot show a good performance of the proposed algorithm.