This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO adapts commands from the operator in real-time and ensures that the reference configuration sent to the underlying controller is feasible. Additionally, an admittance scheme is used to implement physical interaction, which is then combined with the operator's command and retargeted. SEIKO has been applied in simulations on various robots, including humanoid and quadruped robots designed for loco-manipulation. Furthermore, SEIKO has been tested on real hardware for bimanual heavy object carrying tasks.
@article{arxiv.2308.03479,
title = {Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction},
author = {Quentin Rouxel and Ruoshi Wen and Zhibin Li and Carlo Tiseo and Jean-Baptiste Mouret and Serena Ivaldi},
journal= {arXiv preprint arXiv:2308.03479},
year = {2023}
}
Comments
2nd Workshop Toward Robot Avatars, 2023 IEEE International Conference on Robotics and Automation (ICRA), Jun 2023, London, United Kingdom