TY - GEN
T1 - Virtual reality based teleoperation control of humanoid robot BHR-2
AU - Keerio, Muhammad Usman
AU - Huang, Qiang
AU - Gao, Junyao
AU - Lu, Yuepin
AU - Yang, Jiapeng
PY - 2007
Y1 - 2007
N2 - In this paper, visualization based joystick control of humanoid robot BHR-2 is developed for human robot interaction. The objects and the existing robot model are integrated to form a virtual room environment system. In the current application, the earlier work performed on BHR-2 is enhanced in two ways: the joystick is used as a human interface device between the virtual environment and the teleoperator; a virtual environment workspace is incorporated which includes objects/obstacles e.g. room furniture. This enhancement helps humanoid robot to have collision free manoeuvring in case of poor vision feedback. Simulations and modeling are done using MAYA. Lab experiments are carried out which show the effectiveness of the novel controlling technique for BHR-2.
AB - In this paper, visualization based joystick control of humanoid robot BHR-2 is developed for human robot interaction. The objects and the existing robot model are integrated to form a virtual room environment system. In the current application, the earlier work performed on BHR-2 is enhanced in two ways: the joystick is used as a human interface device between the virtual environment and the teleoperator; a virtual environment workspace is incorporated which includes objects/obstacles e.g. room furniture. This enhancement helps humanoid robot to have collision free manoeuvring in case of poor vision feedback. Simulations and modeling are done using MAYA. Lab experiments are carried out which show the effectiveness of the novel controlling technique for BHR-2.
KW - Human-robot interaction
KW - Humanoid robot
KW - Visual environment
UR - http://www.scopus.com/inward/record.url?scp=37049009080&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303712
DO - 10.1109/ICMA.2007.4303712
M3 - Conference contribution
AN - SCOPUS:37049009080
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 1160
EP - 1165
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -