Title :
Optimal control of humanoid robot in long distance
Author :
Capi, Genci ; Nasu, Yasuo
Author_Institution :
CREST, ATR, Kyoto, Japan
Abstract :
In emergency and hazardous environments, autonomous humanoid robots must make decisions based on the environment conditions. In addition, they must send information to human operator and receive high-level commands. In this paper, we apply intelligent algorithms in order to create an autonomous humanoid robot. In addition, a teleoperation system is developed to communicate with the humanoid robot in a long distance through Internet. The experiments using the 21 degree of freedom "Bonten-Maru" humanoid robot show a good performance of the proposed algorithm.
Keywords :
Internet; intelligent robots; mobile robots; optimal control; telerobotics; Internet; autonomous humanoid robots; emergency environments; intelligent algorithms; optimal control; teleoperation system; Charge coupled devices; Control systems; Humanoid robots; Humans; Intelligent robots; Internet; Local area networks; Optimal control; Robot control; Torque;
Conference_Titel :
Advanced Information Networking and Applications, 2004. AINA 2004. 18th International Conference on
Print_ISBN :
0-7695-2051-0
DOI :
10.1109/AINA.2004.1283867
