The Development of the Autonomous-Remote Hybrid Control System for the Humanoid Robot - 2nd Report: The Development of the Basic Control Algorithm

摘要

In the project promoted by NEDO, we are developing a remote control technology 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 method to execute the remote control easily according to operator's intention. In this paper, we will propose a new control method which unites the remote control and autonomous control. And we applied the proposed method to the humanoid robot "HRP-2" and confirmed its efficiency with the simulation using the virtual robot.