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 r

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 r
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.

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 r
唉 花了我不少时间来翻
1 运动和接近阶段:机器人从远处移动接近某个区域,可由遥控操控人员进行监督和操纵.两个机器人一起合作,将诸如火炬的物体相互传递.客户计算机和远程计算机之间可交流.发出的声音指令可以传达相关的机器人处.它在解读指令后会予以执行.每个操控人员都可以看到指令是否得到执行.操控人员可以以声音或者文本的方式,对相关机器人发送“开始移动”的指令.机器人会按照轨道移动三步距离走到彼此面前.
2传递火炬前的位置调整阶段：在传递前有必要使两个机器人保持适当的距离,以确保传递的可靠性.为了达到此目的,我们使用了引导-跟随控制.
3传递和接收阶段：两个机器人到达恰当的位置后,就可以进行火炬的传递和接收.平台1的操控人员通过文本方式将“取火炬”指令发送到机器人BHR-2L处,它就会自动判断当前物体的位置,并在收到“抓火炬”的文本指令后抓住火炬.此后操控人员根据通过立体图像或取的姿势信息,再发送另一文本指令“传递火炬”,命令其将火炬举起或移交给另一机器人.然后如图 3-4所示,另一平台的操控人员发送文本指令,让机器人BHR-2F 完成接收火炬的任务.
4移交和离开阶段：操控人员可以监控机器人移交和离开.在收到“松开火炬”的文本指令后,机器人会松开物体.收到各自平台的文本指令后,两个机器人顺利完成任务