Resumen
This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this information to the robot. This configuration allows the mobile robot to directly replicate the position of the arms on the remote controller. The objective of this proposal is to provide the robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. The master device registers the angular position of each joint of its passive arms and transmits this information to the mobile robot, which replicates it. The experimental evaluation of the system has shown that the humanoid robot is able to successfully replicate any gesture on the remote controller. The positions of the arms have been sampled at a frame rate of 20 ms, and the average telecontrol delay obtained in the gesture experiments has been 549 ms, without appreciable jumps or irregularities in the gestures. The conclusion is that the direct manipulation of the passive arms of the remote control device provides the APR-02 humanoid robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance.