Task Autonomy for a Teleoperated Humanoid Robot

This paper discusses the teleoperation of a humanoid robot. We focus on the tasks of manipulating an object where the robot keeps balance by utilizing the contact between the hand and the environment. To realize this teleoperation task easily, we consider several automous functions such as balance keeping, avoidance of joint angle limit, and visual recognition. Some functions are implimented by using the artificial potential method. The effectiveness of the proposed method is verified by experiment.

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