Development of teleoperation system for humanoid robot by Task Model

Abstract

In recent years, the research of humanoid robots that replace human tasks in emergency situations have been widely studied. Humanoid robot has an advantage that the robot can operate equipment designed for human. The interfaces that map the human motion to the humanoid robot have become popular. However, the humanoid robot and human beings have different joint structure, physical ability and weight balance. It is not practical to map the motion directly. There is also the issue of time delay. Therefore, it is desirable that the operator performs global judgments and the robot runs semi-autonomously in the local environment. In this paper, we propose system to operate the humanoid robot intuitively through Task Model.