This paper presents the teleoperation system that controls humanoid slave robot. In order to do a job easily and accurately with humanoid slave, the teleoperation system should be human friendly oriented. The isomorphic configuration of master arm developed in this research helps an operator working with humanoid robot to do his job dexterously. Also new tactile feedback device is developed to provide an operator with a realistic tactile feeling to operator's fingers. Besides the master devices, guidance functions in virtual reality can be useful information to an operator. We describe the administration method of teleoperation system for humanoid robot and validate it through experiment in this paper.
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