The HERMES humanoid system: A platform for full-body teleoperation with balance feedback

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

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

Abstract

The HERMES humanoid robot system is designed for studying whole-body human-in-the-loop control with balance feedback. Inspired by the innate physical control capabilities of humans as well as the capacity for creative learning, we explore the use of the full-body of the human operator as the controller for a humanoid robot. The state of balance of the robot is displayed as sensory feedback to the human operator applied as force to the waist in order to stimulate corrective teleoperated control actions. This paper addresses the design considerations for such a system and shows initial results for human-in-the-loop-balance control as well as a wall-breaking demonstration that summarizes the breadth of capabilities of the system. Initial results show that the operator can respond to an impact disturbance on the robot within 175 ms and 125 ms after the robot's center of pressure begins to move.

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
Pages730-737
Number of pages8
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

  • Force
  • Hip
  • Humanoid robots
  • Robot kinematics
  • Robot sensing systems
  • Visualization

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'The HERMES humanoid system: A platform for full-body teleoperation with balance feedback'. Together they form a unique fingerprint.

  • Cite this

    Wang, A., Ramos, J., Mayo, J., Ubellacker, W., Cheung, J., & Kim, S. (2015). The HERMES humanoid system: A platform for full-body teleoperation with balance feedback. In Humanoids 2015: Humanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots (pp. 730-737). [7363451] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-December). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2015.7363451