The HERMES humanoid system: A platform for full-body teleoperation with balance feedback
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback
复制标题
HERMES 人形系统：具有平衡反馈的全身遥控平台
DOI：
10.1109/humanoids.2015.7363451
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Sangbae Kim
中科院分区：
文献类型：
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作者：
Albert Wang;João Ramos;John Mayo;Wyatt Ubellacker;J. Cheung;Sangbae Kim
Hermes仿人机器人系统是为研究平衡反馈的全身人在环控制而设计的。受人类与生俱来的物理控制能力和创造性学习能力的启发，我们探索了使用人类操作员的全身作为类人机器人的控制器。机器人的平衡状态被显示为对人类操作员的感官反馈，作为力施加到腰部，以刺激纠正的遥控控制动作。本文讨论了这种系统的设计考虑，展示了人在回路中平衡控制的初步结果，以及总结了该系统能力广度的突破性演示。初步结果表明，操作者可以在机器人压力中心开始移动后的175ms和125ms内对机器人的冲击扰动做出响应。
The HERMES humanoid robot system is designed for studying whole-body human-in-the-loop control with balance feedback. Inspired by the innate physical control capabilities of humans as well as the capacity for creative learning, we explore the use of the full-body of the human operator as the controller for a humanoid robot. The state of balance of the robot is displayed as sensory feedback to the human operator applied as force to the waist in order to stimulate corrective teleoperated control actions. This paper addresses the design considerations for such a system and shows initial results for human-in-the-loop-balance control as well as a wall-breaking demonstration that summarizes the breadth of capabilities of the system. Initial results show that the operator can respond to an impact disturbance on the robot within 175 ms and 125 ms after the robot's center of pressure begins to move.