A teleoperation system for a humanoid robot with multiple information feedback and operational modes

This paper presents a teleoperation system to control humanoid robot BHR-01. Multiple input devices such as keyboards, mouse and master arm are adopted to input the commands, and different operational modes are designed to control different parts of the humanoid robot. In order to let the operator to know the situation of the robot environment, some information obtained by robot´s sensors, environment´s monitoring devices and virtual devices are transferred to the operator. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates BHR-01