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A Visual Tele-operation System for the Humanoid Robot BHR-02

This paper presents a method to reconstruct the virtual scene of the humanoid robot teleoperation to overcome the problem of the poor vision images feedback. A virtual robot interface is built to render the data of the real robot. It has the same DOF set and the same size scale as the real robot. The interface can render the multiple real-time feedback data from the robot. In the data-fusion module an algorithm is adopted to determine the position and attitude of the robot body. Some experiments are done to confirm the effectiveness of the virtual scene