Manipulation of a humanoid robot by teleoperation

摘要

The shape of the humanoid robot is one of the best shapes of remotely controlled robots. However, there are only a few investigations on humanoid teleoperation. In this paper, firstly, a remote cockpit and teleoperation strategy for the humanoid robot (BHR-01) are proposed. Then, we focused on the manipulation and the design of the master arm and hand. The designed master arm and hand has the following three characteristics: a) similar mechanism with human, b) the upper arm and forearm with adjustable length, c) the gravity compensation to hold on some postures. Finally, an experiment that an operator manipulated BHR-01 tracking and grasping an object is provided.