A simulation and monitoring system for the humanoid robot BHR-02 teleoperation

Lei Zhang; Qiang Huang; Yuepin Lu; Tao Xiao; Jiapeng Yang

doi:10.1109/ICIA.2006.305811

A simulation and monitoring system for the humanoid robot BHR-02 teleoperation

Lei Zhang^*
, Qiang Huang
, Yuepin Lu
, Tao Xiao
, Jiapeng Yang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to conference › Paper › peer-review

3 Citations (Scopus)

Abstract

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 teleopreation. 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.

Original language	English
Pages	695-700
Number of pages	6
DOIs	https://doi.org/10.1109/ICIA.2006.305811
Publication status	Published - 2006
Event	2006 IEEE International Conference on Information Acquisition, ICIA 2006 - Weihai, Shandong, China Duration: 20 Aug 2006 → 23 Aug 2006

Conference

Conference	2006 IEEE International Conference on Information Acquisition, ICIA 2006
Country/Territory	China
City	Weihai, Shandong
Period	20/08/06 → 23/08/06

Keywords

Humanoid robot
Real time monitor
Simulation
Teleoperation

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10.1109/ICIA.2006.305811

Cite this

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abstract = "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 teleopreation. 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.",

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AU - Huang, Qiang

AU - Lu, Yuepin

AU - Xiao, Tao

AU - Yang, Jiapeng

PY - 2006

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AB - 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 teleopreation. 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.

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KW - Real time monitor

KW - Simulation

KW - Teleoperation

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A simulation and monitoring system for the humanoid robot BHR-02 teleoperation

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Keywords

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