A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

摘要

This paper presents the development of new Humanoid Robot Control Architecture (HRCA) platform based on Common Object Request Broker Architecture (CORBA) in a developmental biped humanoid robot for real-time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA) to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten-Maru. Additionally, we have developed a user-friendly Virtual Reality (VR) user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD) for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.