1 research outputs found
Web Based Teleoperation of a Humanoid Robot
The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body
controller and web-based teleoperation to enable any device with a web browser
to access and control a humanoid robot. By integrating humanoid robots with the
cloud, they are accessible from any Internet-connected device. Increased
accessibility is important because few people have access to state-of-the-art
humanoid robots limiting their rate of development. CARL's implementation is
based on modern software libraries, frameworks, and middleware including
Node.js, Socket.IO, ZMQ, ROS, Robot Web Tools, and ControlIt! Feasibility is
demonstrated by having inexperienced human operators use a smartphone's
web-browser to control Dreamer, a torque-controlled humanoid robot based on
series elastic actuators, and make it perform a dual-arm manipulation task. The
implementation serves as a proof-of-concept and foundation upon which many
advanced humanoid robot technologies can be researched and developed.Comment: 17 pages, 6 figure