The use of teleoperation for humanoid walking: a first look

In this paper, we present a proposal to extend the rough terrain adaptability by means of teleoperation. In the proposed teleoperation system, a master interface has been designed to map the lower limp joint angles of human operator to those of the humanoid robot. The advantage of such system is that the human operator can control the humanoid naturally, as if he is the humanoid, due to the structural similarity of the interface worn by the human operator and the humanoid robot.