Development of a teleoperation system and an operation assist user interface for a humanoid robot

摘要

Abstract:- This paper describes a humanoid robot teleoperation system through the Internet/LAN. The developed system is a server-client system based on Common Object Request Broker Architecture (CORBA). The main target is that a human operator can remotely control the humanoid robot arms by on-line as if own arms naturally. In order to achieve the operation, we have developed a user-friendly Virtual Reality (VR) user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD) with a gyro sensor. The preliminary experiments show that the system is available as a teleoperation tool for the humanoid robot.