Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot

MOYA, VIVIANA; SLAWINSKI, EMANUEL; MUT, VICENTE; WAGNER, BERNARDO

IEEE LATIN AMERICA TRANSACTIONS

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Año: 2022 vol. 20 p. 64 - 72

1548-0992

This document proposes a control scheme applied to delayed bilateral-by-phases teleoperation of the locomotion and manipulation of a humanoid robot, where each phase works depending on the decision of the human operator. Besides, balance control, adaptive controller, and force feedback are applied. The implementation is described and the results obtained from experiments of intercontinental teleoperation for a pick and place task with a NAO robot-driven at distance with a haptic device, are shown and summarized.