A Visual Tele-operation System for the Humanoid Robot BHR-02

Author

Zhang, Lei ; Huang, Qiang ; Lu, Yuepin ; XIAO, Tao ; Yang, Jiapeng ; Keerio, Muhammadusman

Author_Institution

Dept. of Mechatronic Eng., Beijing Inst. of Technol.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1110

Lastpage

1114

Abstract

This paper presents a method to reconstruct the virtual scene of the humanoid robot teleoperation to overcome the problem of the poor vision images feedback. A virtual robot interface is built to render the data of the real robot. It has the same DOF set and the same size scale as the real robot. The interface can render the multiple real-time feedback data from the robot. In the data-fusion module an algorithm is adopted to determine the position and attitude of the robot body. Some experiments are done to confirm the effectiveness of the virtual scene

Keywords

humanoid robots; robot vision; sensor fusion; telerobotics; data-fusion module; humanoid robot BHR-02; multiple real-time feedback data; virtual robot interface; vision images feedback; visual teleoperation system; Cameras; Feedback; Humanoid robots; Humans; Image reconstruction; Layout; Rendering (computer graphics); Robot control; Robot vision systems; Shape control; Data-fusion; Humanoid robot; Real time monitor; Teleoperation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281820

Filename

4058514