Related papers: Feasibility Retargeting for Multi-contact Teleoper…
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a specific character or robot. The target hand may differ…
Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands,…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments,…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulation is often constrained to specific tasks or predetermined…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Based Trajectory Optimization (SBTO) framework that refines…
We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The…
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based…
In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…