Virtual reality based teleoperation control of humanoid robot BHR-2

Muhammad Usman Keerio; Qiang Huang; Junyao Gao; Yuepin Lu; Jiapeng Yang

doi:10.1109/ICMA.2007.4303712

Virtual reality based teleoperation control of humanoid robot BHR-2

Muhammad Usman Keerio^*, Qiang Huang, Junyao Gao, Yuepin Lu, Jiapeng Yang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages	1160-1165
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2007.4303712
Publication status	Published - 2007
Event	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China Duration: 5 Aug 2007 → 8 Aug 2007

Publication series

Name	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/Territory	China
City	Harbin
Period	5/08/07 → 8/08/07

Keywords

Human-robot interaction
Humanoid robot
Visual environment

Access to Document

10.1109/ICMA.2007.4303712

Cite this

Keerio, M. U., Huang, Q., Gao, J., Lu, Y., & Yang, J. (2007). Virtual reality based teleoperation control of humanoid robot BHR-2. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (pp. 1160-1165). Article 4303712 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). https://doi.org/10.1109/ICMA.2007.4303712

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title = "Virtual reality based teleoperation control of humanoid robot BHR-2",

abstract = "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.",

keywords = "Human-robot interaction, Humanoid robot, Visual environment",

author = "Keerio, {Muhammad Usman} and Qiang Huang and Junyao Gao and Yuepin Lu and Jiapeng Yang",

year = "2007",

doi = "10.1109/ICMA.2007.4303712",

language = "English",

isbn = "1424408288",

series = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

pages = "1160--1165",

booktitle = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

note = "2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 ; Conference date: 05-08-2007 Through 08-08-2007",

}

Keerio, MU, Huang, Q , Gao, J, Lu, Y & Yang, J 2007, Virtual reality based teleoperation control of humanoid robot BHR-2. in Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007., 4303712, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, pp. 1160-1165, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, 5/08/07. https://doi.org/10.1109/ICMA.2007.4303712

Virtual reality based teleoperation control of humanoid robot BHR-2. / Keerio, Muhammad Usman; Huang, Qiang ; Gao, Junyao et al.
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 1160-1165 4303712 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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KW - Visual environment

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Virtual reality based teleoperation control of humanoid robot BHR-2

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