We describe a system design approach for the bilateral teleoperation of a humanoid robot. We have focused on bipedal stability and 2D/3D locomotion space problems. Our proposed system has two robot hardware and two control software. The master side hardware is newly developed seat-type whole-body exoskeleton cockpit called “TABLIS,” and the master side software reproduces a remote 2D/3D ground surface and overcomes the space limitation of locomotion, such as the use of treadmills. The slave side software prevents the humanoid from falling down in cases where an operator provides an inaccurate input. We used humanoid robot “JAXON” as a slave side hardware. We have achieved a bilateral quasi-3D step traversing and demonstrated the validity of our system design.

中文翻译：

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使用全身外骨骼驾驶舱TABLIS的双边人形遥控操作系统

我们描述了一种用于仿人机器人双边遥控操作的系统设计方法。我们专注于双足稳定性和 2D/3D 运动空间问题。我们提出的系统有两个机器人硬件和两个控制软件。主侧硬件为新开发的座椅式全身外骨骼驾驶舱“TABLIS”，主侧软件再现远程2D/3D地表，克服运动空间限制，如使用跑步机。在操作员提供不准确输入的情况下，从侧软件可防止人形机器人跌倒。我们使用人形机器人“JAXON”作为从端硬件。我们已经实现了双边准 3D 步进遍历，并证明了我们系统设计的有效性。