Summary
This paper discusses the teleoperation of a humanoid robot. We focus on the tasks of manipulating an object where the robot keeps balance by utilizing the contact between the hand and the environment. To realize this teleoperation task easily, we consider several automous functions such as balance keeping, avoidance of joint angle limit, and visual recognition. Some functions are implimented by using the artificial potential method. The effectiveness of the proposed method is verified by experiment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sato, T., Hirai, S.: A Model Enhanced Intelligent and Skillfil Teleoperation Robot System. In: Robotics Research –The Fourth Int. Symp., pp. 155–162. The MIT Press, Cambridge (1988)
Yoerger, D.R., Slotine, J.E.: Supervisory Control Architecture for Underwater Teleoperation. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2068–2073 (1987)
Conway, L., Voltz, R., Walker, M.: Teleautonomous Systems: Projecting and Coordinating Intelligent Action at a Distance. IEEE Trans. on Ribitucs and Automation 6(2), 146–158 (1990)
Backes, P., Tso, K.: UMI: An Interactive Supervisory and Shared Control System for Telerobotics. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1096–1101
Sentis, L., Khatib, O.: Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives. Int. J. of Humanoid Robotics 2(4), 505–518 (2005)
Harada, K., Kajita, S., Kaneko, K., Hirukawa, H.: Dynamics and Balance of a Humanoid Robot during Manipulation Tasks. In: IEEE Trans. on Robotics (to appear)
Harada, K., Kajita, S., Kanehiro, F., Fujiwara, K., Kaneko, K., Yokoi, K., Hirukawa, H.: Real-time Planning of Humanoid Robot’s Gait for Force Controlled Manipulation. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 616–622 (2004)
Hirukawa, H., Hattori, S., Harada, K., Kajita, S., Kaneko, K., Kanehiro, F., Fujiwara, K., Morisawa, M.: A Universal Stability Criterion of the Foot Contact of Legged Robots – Adios ZMP. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 616–622 (2006)
Sian, N.E., Yokoi, K., Kajita, S., Tanie, K.: Whole Body Teleoperation of a Humanoid Robot Integrating Operator’s Intention and Robot’s Autonomy. an Experimental Verification. In: Proc. of IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp. 1651–1656 (2003)
Sian, N.E., Yokoi, K., Kajita, S., Tanie, K.: A Framework for Remote Execution of Whole Body Motions for Humanoid Robots. In: IEEE-RAS/RSJ International Conference on Humanoid Robots (2004)
Yokokohji, Y., Ogawa, A., Hasunuma, H., Yoshikawa, T.: Operation Modes for Cooperating with Autonomous Functions in Intelligent Teleoperation Systems. In: IEEE Int. Conf. on Robotics and Automation, pp. 275–281 (2002)
Hasunuma, H., Nakashima, K.: The Tele-operation of the Humanoid Robot–Workspace Extension of the Arm with Step Motion. In: Proc. IEEE-RAS/RSJ Int. Conf. Humanoid Robots, pp. 245–252 (2005)
Kajita, S., et al.: Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum. In: Proc. of 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1644–1650 (2003)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Harada, K., Hasunuma, H., Nakashima, K., Kawai, Y., Hirukawa, H. (2008). Task Autonomy for a Teleoperated Humanoid Robot. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_50
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_50
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)