问题描述：
英语翻译
1.MOVING AND APPROACHING PHASE:
Robots moving and approaching from far away location to certain area can be supervised and controlled by teleoperators.For two humanoid robots working cooperatively to pass an object,say torch,from the one robot to another.The communication can be taken place between client computers and the remote computers.Audio commands can be generated and transmitted to the relevant robot.The robot will execute command after interpretation.Each operator can also see the robot if it executes his command.The teleoperators can send their commands “Start move” using audio controls or text commands to relevant robot.The robots move and follow trajectories (in our case one robot follows 3step and other 6 step) to come in front of each other at desired 3step distance.
2.BEFORE TORCH PASSING,ADJUSTING POSES PHASE:
Before torch passing it is necessary to keep two humanoid bodies at desired distance,in order to ensure torch passing reliably.To meet this requirement we have used leader- follower control.
3.HANDING OVER AND TAKING OVER PHASE:
Handing over and taking over the torch can be done after manipulating the two humanoid robots at desired distance,where the operator can manipulate the humanoid arm in its workspace using the master arm.The operator from platform1 can send text command to one robot BHR-2L “Get torch” and the robot will start to search the object.Based on the detection of object position using stereo vision,the robot will automatically judge the current position of the object to grasp and will grasp it by sending text command “Grasp torch”.After grasping the operator will send another text command “Pass torch” to lift/handover the torch to another robot using the pose information acquired by the stereo vision.Then the taking over for other robot BHR-2F will be done using text commands by the teleoperator from another platform as shown in figure 3-4.
4.TURNING OVER AND DEPARTING AWAY PHASE:
The operators can supervise and can control the turning over and departing away of robots.The robots can release the object after receiving the text command “Loose torch” and both robots will finish their work after receiving text commands from their corresponding platforms.
1.MOVING AND APPROACHING PHASE:
Robots moving and approaching from far away location to certain area can be supervised and controlled by teleoperators.For two humanoid robots working cooperatively to pass an object,say torch,from the one robot to another.The communication can be taken place between client computers and the remote computers.Audio commands can be generated and transmitted to the relevant robot.The robot will execute command after interpretation.Each operator can also see the robot if it executes his command.The teleoperators can send their commands “Start move” using audio controls or text commands to relevant robot.The robots move and follow trajectories (in our case one robot follows 3step and other 6 step) to come in front of each other at desired 3step distance.
2.BEFORE TORCH PASSING,ADJUSTING POSES PHASE:
Before torch passing it is necessary to keep two humanoid bodies at desired distance,in order to ensure torch passing reliably.To meet this requirement we have used leader- follower control.
3.HANDING OVER AND TAKING OVER PHASE:
Handing over and taking over the torch can be done after manipulating the two humanoid robots at desired distance,where the operator can manipulate the humanoid arm in its workspace using the master arm.The operator from platform1 can send text command to one robot BHR-2L “Get torch” and the robot will start to search the object.Based on the detection of object position using stereo vision,the robot will automatically judge the current position of the object to grasp and will grasp it by sending text command “Grasp torch”.After grasping the operator will send another text command “Pass torch” to lift/handover the torch to another robot using the pose information acquired by the stereo vision.Then the taking over for other robot BHR-2F will be done using text commands by the teleoperator from another platform as shown in figure 3-4.
4.TURNING OVER AND DEPARTING AWAY PHASE:
The operators can supervise and can control the turning over and departing away of robots.The robots can release the object after receiving the text command “Loose torch” and both robots will finish their work after receiving text commands from their corresponding platforms.
问题解答：
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