We are developing remote control technologies for humanoid robots. The advantage of the remote control is that tele-operated humanoid robots can deal with various tasks according to the situation in the real environment. To make the best use of the advantage, it is important to reduce the load of the human operator. Our goal is to develop the control system to execute the tele-operation easily according to operator's intention. In this paper, we explain the concept of the control method for combining operator's command and autonomous functions. Using the method, we constructed a tele-operation system of the humanoid robot HRP-2 to realize some operator's intention and we discuss about results of the experiment
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