A Simulation and Monitoring System for the Humanoid Robot BHR-02 Teleoperation

摘要

Most existing teleoperation system for humanoid robot by using the video camera does not fit to the poor visibility situation. Also a visual instruction prediction interface can give operators the preview of the operation instruction result which is useful for the complex task and the operator training. This paper presents a method to reconstruct the virtual scene of the humanoid robot teleoperation. A virtual robot interface is built to render the data of the humanoid robot BHR-02. It has the same DOF configure and the same size scale as the real robot. Based on the virtual interface, a simulation and monitoring system is built for the humanoid robot teleoperation. As a simulator, the interface can render data of the teleoperation instructions. As a monitor, the interface can render the multiple real-time feedback data from the robot. Some experiments are done to confirm the effectiveness of the system