Teleoperated Humanoid Robot

Abstract

This thesis deals with a topic of designing of a teleoperated humanoid robot. The main idea is to create a semi-autonomous robotic system that repeats movements of its operator. At first, an analysis of actual state of problematics of the teleoperated humanoid robots and body pose estimation methods was conducted. Then, based on requirements to the system a technical solution of teleoperated humanoid robotic system was designed. As base for developing of the robotic system a Bioloid humanoid robot was used. For operator’s body pose estimation a Kinect sensor was applied. The robotic system is divided into two parts: a part of the operator and a part of the robot. For both parts of the system software solutions were developed. Based on developed mathematical model of the robot, a software implementation of the algorithms of calculation of the mass center and detection of self-collision were made. Both algorithms were optimized, verified and run in real-time on Netduino board - main controller of the robot. For virtual visualization of the system a virtual model of the robot in V-Rep application was used. Conducted tests shown that system fulfills the requirements and the robot correctly repeats movements of the operator.