Development of a humanoid walking command system using a wireless haptic controller

摘要

In this paper, a wireless haptic controller is newly implemented, which dictates a humanoid robot to move according to userpsilas commands. The controller is equipped with a TFT-LCD for showing camera images, a joy stick for changing walking direction and speed, function buttons for stopping and starting walking, and a haptic actuator for delivering the current walking status. This paper provides the simulation of variable-speed walking and its hardware implementation with a humanoid kit. The proposed walking command system is to be applied to the remote medical robot, the exploration robot, the home security robot, and so on.