Whole-Body Geometric Retargeting for Humanoid Robots
This addresses the need for more accessible and flexible teleoperation in robotics, though it appears incremental as it builds on existing inverse kinematics and controller methods.
The paper tackles the problem of teleoperating humanoid robots by introducing a framework for whole-body motion retargeting using inverse kinematics, enabling intuitive interaction and scalability across different robots and users with minimal system changes.
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 robots using a novel approach for motion retargeting through inverse kinematics over the robot model. The proposed method enhances scalability for retargeting, i.e., it allows teleoperating different robots by different human users with minimal changes to the proposed system. Our framework enables an intuitive and natural interaction between the human operator and the humanoid robot at the configuration space level. We validate our approach by demonstrating whole-body retargeting with multiple robot models. Furthermore, we present experimental validation through teleoperation experiments using two state-of-the-art whole-body controllers for humanoid robots.