A reconstruction method for working scene of humanoid robot BHR-02 teleoperation based on multiple information fusion

Abstract

This paper presents a method to reconstruct the working scene of the humanoid robot BHR-02 teleopreation. A virtual robot interface is built to render the data of the real robot. It has the same DOF configuration and the same size scale as the real robot. A simulation module is designed to generate the ideal motion sequence data of the robot executing the operational order. Based on the multiple feedback information, a fusion module gets the real time motion data of the robot. In the virtual scene, the simulation data of different orders and the data of real time motion are rendered respectively. Experiments are done to confirm the effectiveness of the system.

An Visual System for Humanoid Robot Mobile-Manipulation Based on Virtual and Real Video Fusion

“…Using the motion capture system, the threedimensional position coordinate data of each mark point of the robot body relative to its working space can be captured. These coordinate data can be used to seek the real-time attitude changing parameter of the robot body [13][14][15]. As:…”

“…The humanoid robot "BHR-02" (Figure 1) consists of ahead, two arms and legs, and has total 32 DOF (Degrees of Freedom), can perform complex movements flexibly such as walking, turning, up and down stairs, and martial arts [13][14][15]. The height is 160cm, and the weight is 63kg.…”