3D-simulation for the teleoperation of the humanoid robot BHR-02

The humanoid robot is expected to operate in hazardous and emergency environments. So teleoperation is necessary to control the remote robot. Simulation is one of the key technologies in teleoperation system. This paper puts forward 3D-simulation for the teleoperation of the humanoid robot BHR-02 based on Maya and VC++. The robot model is built based on the real robot structure and moving character. The model of the robot and the reality environment built by Maya are more approach the reality and give the operator better telepresence. The simulation system not only directs the teleoperation, but also modifies the motion planning. Multiple view points and a scaling zoom let the operator watch the random detail of the robot. The simulation provides good directions to the teleoperator. Experiment shows the validity of the system.