A stable foot teleoperation method for humanoid robots

The establishment of an intuitive and effective whole body operation method is essential for the utilization of humanoid robots in real world tasks. Here we introduce a method for humanoid robot foot teleoperation, as a part of our whole body teleoperation system using only a simple joystick device. This paper explains a framework for real-time foot operation which incorporates the operator´s foot command and robot´s autonomy in maintaining balance. We describe the algorithm of an autonomous function which shifts the position of the robot´s center of mass interactively based on the operator´s command and the current feet condition of the robot. We report on successful experimental results of teleoperating a real humanoid robot HRP-2 using the proposed method.