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Computer Science > Robotics

arXiv:1909.10080 (cs)
[Submitted on 22 Sep 2019]

Title:Whole-Body Geometric Retargeting for Humanoid Robots

Authors:Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
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Abstract: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.
Comments: Equal author contribution from Kourosh Darvish and Yeshasvi Tirupachuri
Subjects: Robotics (cs.RO)
Cite as: arXiv:1909.10080 [cs.RO]
  (or arXiv:1909.10080v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1909.10080
Journal reference: 2019 IEEE-RAS International Conference on Humanoid Robots

Submission history

From: Venkata Sai Yeshasvi Tirupachuri [view email]
[v1] Sun, 22 Sep 2019 19:48:50 UTC (7,152 KB)
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Yeshasvi Tirupachuri
Giulio Romualdi
Diego Ferigo
Francisco Javier Andrade Chavez
Daniele Pucci
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