research-article

Teleoperation of Humanoid Robots: A Survey

Authors:

Kourosh Darvish,

Rafael Cisneros,

Eiichi Yoshida,

Daniele PucciAuthors Info & Claims

IEEE Transactions on Robotics, Volume 39, Issue 3

Pages 1706 - 1727

https://doi.org/10.1109/TRO.2023.3236952

Published: 01 June 2023 Publication History

Abstract

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey article gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications.

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Cited By

Duan ABatzianoulis ICamoriano RRosasco LPucci DBillard A(2024)A structured prediction approach for robot imitation learningInternational Journal of Robotics Research10.1177/0278364923120465643:2(113-133)Online publication date: 1-Feb-2024
https://dl.acm.org/doi/10.1177/02783649231204656
Lu YRen SShen QCao XCai JKankanhalli MPrabhakaran BBoll SSubramanian RZheng LSingh VCesar PXie LXu D(2024)Leveraging RGB-Pressure for Whole-body Human-to-Humanoid Motion ImitationProceedings of the 32nd ACM International Conference on Multimedia10.1145/3664647.3681180(8932-8941)Online publication date: 28-Oct-2024
https://dl.acm.org/doi/10.1145/3664647.3681180
Nahri SDu Svan Wyk BDenzel Nyasulu T(2024)Mitigating the Time Delay and Parameter Perturbation by a Predictive Extended State Observer-Based Active Disturbance Rejection ControlTowards Autonomous Robotic Systems10.1007/978-3-031-72059-8_22(256-269)Online publication date: 21-Sep-2024
https://dl.acm.org/doi/10.1007/978-3-031-72059-8_22

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cover image IEEE Transactions on Robotics

IEEE Transactions on Robotics Volume 39, Issue 3

June 2023

822 pages

ISSN:1552-3098

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1552-3098 © 2023 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.

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Duan ABatzianoulis ICamoriano RRosasco LPucci DBillard A(2024)A structured prediction approach for robot imitation learningInternational Journal of Robotics Research10.1177/0278364923120465643:2(113-133)Online publication date: 1-Feb-2024
https://dl.acm.org/doi/10.1177/02783649231204656
Lu YRen SShen QCao XCai JKankanhalli MPrabhakaran BBoll SSubramanian RZheng LSingh VCesar PXie LXu D(2024)Leveraging RGB-Pressure for Whole-body Human-to-Humanoid Motion ImitationProceedings of the 32nd ACM International Conference on Multimedia10.1145/3664647.3681180(8932-8941)Online publication date: 28-Oct-2024
https://dl.acm.org/doi/10.1145/3664647.3681180
Nahri SDu Svan Wyk BDenzel Nyasulu T(2024)Mitigating the Time Delay and Parameter Perturbation by a Predictive Extended State Observer-Based Active Disturbance Rejection ControlTowards Autonomous Robotic Systems10.1007/978-3-031-72059-8_22(256-269)Online publication date: 21-Sep-2024
https://dl.acm.org/doi/10.1007/978-3-031-72059-8_22

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