A Tele-operated Humanoid Operator

Abstract

This is the first successful trial of remotely controlling a humanoid robot to drive an industrial vehicle in lieu of a human operator. These results were achieved through the development of three technologies: 1) remote-control technology to instruct the humanoid to perform total-body movements under remote control 2) a remotecontrol system to execute tasks, and protection technology to protect the humanoid against the shock and vibrations of its operating seat and against influences of the natural environment, such as rain and dust, and 3) full-body operation-control technology to autonomously control the humanoid's total-body movements to prevent the robot from falling over. The humanoid has promising application potential for restoration work in environments impacted by catastrophes and in civil-engineering and construction-project sites where it can work safely and efficiently.

Autonomous car driving by a humanoid robot

“…• Reject the outliers, that is, the contributions (̇x p,i ,̇y p,i ), i ∈ {1, … , n}, The final output of this procedure,̂̇x p , is fed to (13), to obtain v c , that is then low-pass filtered. To transform the velocity v c in frame  c , obtained from (13), into velocity v w in the car frame  w , we apply:…”

“…Without a humanoid, these tasks can be hardly achieved by a unique system. Moreover, the robot should operate cranks or other tools attached to the vehicle . A second demand comes from the car manufacturing industry .…”

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

“…5) e fr and e fl are the force-based control of both right and left hands of the robot. They are defined as in (4). The reference force f is then the sum of real measured forces and reference forces sent by the master.…”

“…In this paper, we are interested in realizing a teleoperation system that allows for remotely controlling a humanoid which is performing a joint physical collaborative task with another, onsite, human. So far, humanoid robots have been teleoperated using supervisory control to generate whole body motion and bilateral coupling to control the hand and foot positions [4], or using advanced virtual reality technology [5].…”

Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid

“…This ability allows a humanoid robot to serve as an entertainer like a dancer of an actor [1], or also to use various machines and devices designed for humans [2]. As an extension of the latter use, a new application has recently been studied: a humanoid robot as an evaluator of human assistive devices [3], [4].…”