Title :
Design and implementation of remotely operation interface for humanoid robot
Author :
Kagami, Satoshi ; Kuffner, James J., Jr. ; Nishiwaki, Koichi ; Sugihara, Tomomichi ; Michikata, Takashi ; Aoyama, Takuma ; Inaha, M. ; Inoue, Horishika
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
This paper describes a design of remote operation interface for humanoid robot with following three functions: (1) Body DOFs control interface through 3D robot model in a virtual environment, and it has two types of online stabilizing software for maintaining the body balance. (2) Environmental recognition display interface for sensors, sound and 3D vision. (3) Voice and face recognition interface for interacting with operator and a human in front of the robot body. Then, implementation and experiments on our humanoid robot H6 are denoted.
Keywords :
face recognition; legged locomotion; pattern recognition; speech-based user interfaces; stability; telerobotics; user interfaces; 3D robot model; 3D vision; H6; environmental recognition display interface; face recognition interface; humanoid robot; online stabilizing software; remote operation interface; sensors; sound; virtual environment; voice recognition interface; Biological system modeling; Face recognition; Human robot interaction; Humanoid robots; Robot sensing systems; Robot vision systems; Software maintenance; Speech recognition; Three dimensional displays; Virtual environment;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932584
