Integrating Sensor Fusion for Teleoperation Control of Anthropomorphic Dual-Arm Robots*

In order to achieve accurate control of anthropo-morphic two-arm robots, a novel teleoperation control system is proposed. The system uses sensor fusion technology to analyze and process the position and attitude information of the human arm, so as to realize the real-time control of the humanoid two-arm robot and its bionic hand. The system ensures stable and reliable remote operation, enabling users to control the robot freely. In order to verify the effectiveness of the system in different users, we invited several operators to participate in the experiment. The experimental results show that the system not only enhances the human-robot interaction experience, but also is effective for different users.

I. Introduction

With the development of artificial intelligence and deep learning algorithms [1], [2], [3], [4], [5], there has been significant interest in the development of humanoid robotic arms in various areas of society [6]. These mechanical arms have demonstrated their capability to aid and, in some cases, substitute for human involvement in executing intricate and accurate tasks within industries, healthcare, social services, and other sectors [7], [8]. Of special significance are the humanoid robotic arms integrated with human-like control systems, which are progressively assuming more crucial roles in the day-to-day lives of people.