A Visual Tele-operation System for the Humanoid Robot BHR-02

2008 IEEE International Conference on Robotics and Biomimetics

et al. 2009

This paper presents a teleoperation system to control mobile robot remotely. To provide adequate information for the operator to be aware of the robot situation, the whole viewpoints scenes are generated in the first and the third person point of view by virtual tools. These scenes provide the maps and the spatial information to the operators. To complete a complex task, operators can conveniently select different viewpoints to monitor the robot or target for different task process. Multiple input devices such as keyboard, mouse and joystick are adopted to input the commands, and different operational modes are designed to control the robot in different task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates mobile robot.

Section: Teleoperation System For Mobile Robot Bcar-01mentioning

confidence: 99%

A teleoperation system for mobile robot with whole viewpoints virtual scene for situation awareness

2008 IEEE International Conference on Robotics and Biomimetics

et al. 2009

“…Especially, in a building which is danger but not has been destroyed, the robot can complete the searching work instead of human. By the sensors system in the robot, the environment information like temperature or humidity could be collected [19][20]. Two driving wheels are driven by DC motors respectively which are symmetrically equipped on the underpan.…”

Section: The Mobile Robot Platform "Bcar-01"mentioning

confidence: 99%

A teleoperation system for mobile robot BCAR-01 with multiple viewpoints virtual scene

Jiang

2008 IEEE International Conference on Robotics and Biomimetics

Gao

2009

To control mobile robot BCAR-01 remotely, a teleoperation system is presented with a multiple viewpoints virtual scene of the robot and its worksite. The constructed scene is used to get knowledge of the robot and its working environment, besides the real video feedback from the robot vision system. It can present images in multiple person viewpoints. In a complex task, operators can conveniently select different viewpoints to get the information of the robot status or target for different task process. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates mobile robot BCAR-01.

“…By 3D animation software Maya, the virtual scene can be build as mentioned in [17] [18]. To express the motion status of the real robot, the virtual robot model in the scene must render two kinds of data.…”

Section: Virtual Scene Of the Teleoperation Platformmentioning

confidence: 99%

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

2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Jiang

Huang

et al. 2007

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.