1. Whole-Body Geometric Retargeting for Humanoid Robots
- Author
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Diego Ferigo, Lorenzo Rapetti, Daniele Pucci, Kourosh Darvish, Francisco Javier Andrade Chavez, Giulio Romualdi, and Yeshasvi Tirupachuri
- Subjects
FOS: Computer and information sciences ,0209 industrial biotechnology ,Inverse kinematics ,business.industry ,Computer science ,020207 software engineering ,02 engineering and technology ,Motion (physics) ,Computer Science - Robotics ,020901 industrial engineering & automation ,Teleoperation ,Retargeting ,Scalability ,0202 electrical engineering, electronic engineering, information engineering ,Robot ,Computer vision ,Artificial intelligence ,Configuration space ,business ,Robotics (cs.RO) ,Humanoid robot - 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., Equal author contribution from Kourosh Darvish and Yeshasvi Tirupachuri
- Published
- 2019