Trajectory Calculation and Gait Change On-line for Humanoid Teleoperation

This paper presented a method of realizing online trajectory calculation and gait change on the teleoperation system of humanoid robot BHR-2. The trajectory calculation is based on key parameters include hip and ankle positions etc., which come from offline gait programming. We designed the control arithmetic which calculated all joint angles on-line basis the data file of key parameters when motion control computer accepted the instruction from the remote cockpit of the teleoperation system, finally modified them real-time basis sensor information. Basis online trajectory calculation we realized gait change on-line for humanoid teleoperation. The effectiveness of the presented method is confirmed by teleoperation experiments with our developed humanoid robot BHR-2