Teleoperation of Humanoid Robots: A Survey
Teleoperation of Humanoid Robots: A Survey
复制标题
类人机器人遥操作研究综述
DOI：
10.1109/tro.2023.3236952
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发表时间：
2023-02-02
影响因子：
7.8
通讯作者：
Pucci, Daniele
中科院分区：
文献类型：
--
作者：
Darvish, Kourosh;Penco, Luigi;Pucci, Daniele
类人机器人的遥操作使得人类的认知技能和领域专业知识与类人机器人的物理能力相结合。类人机器人的操作多功能性使其成为远程环境中远程操作时广泛应用的理想平台。然而，类人机器人的复杂性提出了挑战的遥操作，特别是在非结构化的动态环境与有限的通信。在过去几十年中，这一领域取得了许多进展，但仍然缺乏全面的概述。本文综述了仿人机器人遥操作技术，介绍了遥操作系统的总体结构，并分析了不同的组成部分。我们还讨论了该主题的不同方面，包括技术和方法的进步，以及潜在的应用。
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey article gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications.