A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system

Joao Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the concept, design, and experimental implementation of a Balance Feedback Interface (BFI) for human-in-the-loop control of a humanoid robot. The purpose of the BFI is to create a new media to aid the task of bilateral feedback during full-body teleoperation of humanoid robots. It explores human's primitive motor skills to enhance the dynamic behavior of the slave platform to a performance level comparable to humans. This project aims to leverage legged robot's performance to respond to disaster situations such as nuclear, fire, or chemical hazards. We expect to reliably deploy a legged platform to a dangerous environments and perform powerful manipulation tasks such as hammering/axing, moving/lifting heavy objects, etc. Initial results show that the human can react to disturbances on the humanoid robot while performing an upright balancing task. We believe this is the key technology that allows for the paradigm shift from quasi-static regime to truly dynamic performance of humanoid robots.

Original languageEnglish (US)
Title of host publicationHumanoids 2015
Subtitle of host publicationHumanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages844-850
Number of pages7
ISBN (Electronic)9781479968855
DOIs
StatePublished - Dec 22 2015
Externally publishedYes
Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
Duration: Nov 3 2015Nov 5 2015

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-December
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
CountryKorea, Republic of
CitySeoul
Period11/3/1511/5/15

Keywords

  • Dynamics
  • Force
  • Humanoid robots
  • Legged locomotion
  • Manipulators
  • Robot kinematics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Ramos, J., Wang, A., Ubellacker, W., Mayo, J., & Kim, S. (2015). A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system. In Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots (pp. 844-850). [7363460] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2015.7363460