Human-in-the-loop Control of a Bipedal Robot with Variable Levels of Autonomy


Interfaces and strategies for the teleoperation of bipedal humanoid robots, which otherwise hold great potential in industrial, space exploration, and military application, are currently under-researched. This study aims to help bridge the technological gap between bipedal robots and their teleoperative methodologies by first classifying and enumerating potential control strategies, then incorporating these methodologies into a user interface that accommodates various forms of operator input and feedback, and finally evaluating the efficacy of a few of the most promising control strategies on a set of prototypical tasks for a humanoid robot developed at NASA Johnson Space Center, Robonaut 2.