Whole-Body Geometric Retargeting for Humanoid Robots

Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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 teleop-erating 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.

Original languageEnglish
Title of host publication2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PublisherIEEE Computer Society
Number of pages8
ISBN (Electronic)9781538676301
Publication statusPublished - Oct 2019
Event19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
Duration: 15 Oct 201917 Oct 2019

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580


Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019


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