TY - GEN
T1 - Whole-Body Geometric Retargeting for Humanoid Robots
AU - Darvish, Kourosh
AU - Tirupachuri, Yeshasvi
AU - Romualdi, Giulio
AU - Rapetti, Lorenzo
AU - Ferigo, Diego
AU - Chavez, Francisco Javier Andrade
AU - Pucci, Daniele
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85082681061&partnerID=8YFLogxK
U2 - 10.1109/Humanoids43949.2019.9035059
DO - 10.1109/Humanoids43949.2019.9035059
M3 - Conference contribution
AN - SCOPUS:85082681061
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 679
EP - 686
BT - 2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PB - IEEE Computer Society
T2 - 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
Y2 - 15 October 2019 through 17 October 2019
ER -