Teleoperation of a Humanoid Robot Using an Optical Motion Capture System

摘要

Given the resemblance between the human body and that of a humanoid robot, a very intuitive control system might use motion capture; the system would track the motion of different key joints along the body of the human operator and the robot should mimic the action. To mimic the human's actions, a structure that supports and solves the issues related to motion tracking, human-robot figure relation, motion stability, and other issues is needed. This project consist of the development of a teleoperation system, which would allow a NAO humanoid robot to behave as a human motion imitator, using an optical motion capture system.