Bilateral Humanoid Teleoperation System Using Whole-Body Exoskeleton Cockpit TABLIS

摘要

We describe a system design approach for the bilateral teleoperation of a humanoid robot. We have focused on bipedal stability and 2D/3D locomotion space problems. Our proposed system has two robot hardware and two control software. The master side hardware is newly developed seat-type whole-body exoskeleton cockpit called “TABLIS,” and the master side software reproduces a remote 2D/3D ground surface and overcomes the space limitation of locomotion, such as the use of treadmills. The slave side software prevents the humanoid from falling down in cases where an operator provides an inaccurate input. We used humanoid robot “JAXON” as a slave side hardware. We have achieved a bilateral quasi-3D step traversing and demonstrated the validity of our system design.