Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
We present an approach for retartgeting off-the-shelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Key to the effectiveness was the proper assignment of trackers to joint sets via modified task Jacobians and relaxed barrier functions for self-collision avoidance. The approach was validated on Apptronik's Astro hardware by demonstrating manipulation capabilities on a table-top environment with pick-and-place box packing and a two-handed box pick up and handover task.
@article{arxiv.2411.07534,
title = {Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance},
author = {Steven Jens Jorgensen and Ravi Bhadeshiya},
journal= {arXiv preprint arXiv:2411.07534},
year = {2024}
}
Comments
First Prize Winner of Horizons of an extended robotics reality Workshop at International Conference on Intelligent Robots and Systems, 2022