Telexistence and Teleoperation for Walking Humanoid Robots
Telexistence and Teleoperation for Walking Humanoid Robots
复制标题
步行人形机器人的远程存在和远程操作
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
D. Pucci
中科院分区：
文献类型：
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作者：
Mohamed Elobaid;Yue Hu;J. Babič;D. Pucci
提出了一种实现仿人机器人临场感和遥操作的体系结构。该架构结合了几种技术设置，方法，运动和操纵算法以一种新颖的方式，从而建立和扩展文献中的作品。这种方法允许人类操作员命令和电传机器人。因此，在这项工作中，我们处理的方面不仅涉及到拟议的架构结构和实施，而且在适应机器人和架构的能力方面的人类操作员的经验。此外，本体感觉方面和实施例的机器人进行了研究，通过具体的实验结果，这也是在某种程度上正式的，虽然高层次的方式处理。所提出的架构和实验，将用户的培训和经验的应用解决使用说明性的双足人形机器人，即iCub机器人。
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus building upon and extending works available in literature. The approach allows a human operator to command and telexist with the robot. Therefore, in this work we treat aspects pertaining not only to the proposed architecture structure and implementation, but also the human operator experience in terms of ability to adapt to the robot and to the architecture. Also the proprioception aspects and embodiment of the robot are studied through specific experimental results, which are also treated in a somewhat formal, albeit high-level manner. Application of the proposed architecture and experiments incorporating user training and experience are addressed using an illustrative bipedal humanoid robot, namely the iCub robot.