Virtual Reality Based Teleoperation Control of Humanoid Robot BHR-2

In this paper, visualization based joystick control of humanoid robot BHR-2 is developed for human robot interaction. The objects and the existing robot model are integrated to form a virtual room environment system. In the current application, the earlier work performed on BHR-2 is enhanced in two ways: the joystick is used as a human interface device between the virtual environment and the teleoperator; a virtual environment workspace is incorporated which includes objects/obstacles e.g. room furniture. This enhancement helps humanoid robot to have collision free manoeuvring in case of poor vision feedback. Simulations and modeling are done using MAYA. Lab experiments are carried out which show the effectiveness of the novel controlling technique for BHR-2.