High-Speed and Impact Resilient Teleoperation of Humanoid Robots

• Main Authors: Bertrand, Sylvain, Penco, Luigi, Anderson, Dexton, Calvert, Duncan, Roy, Valentine, McCrory, Stephen, Mohammed, Khizar, Sanchez, Sebastian, Griffith, Will, Morfey, Steve, Maslyczyk, Alexis, Mohan, Achintya, Castello, Cody, Ma, Bingyin, Suryavanshi, Kartik, Dills, Patrick, Pratt, Jerry, Ragusila, Victor, Shrewsbury, Brandon, Griffin, Robert
• Format: Journal Article
• Language: English
• Published: 06-09-2024
• Subjects: Computer Science - Robotics
• DOI: 10.48550/arxiv.2409.04639

Teleoperation of humanoid robots has long been a challenging domain,
necessitating advances in both hardware and software to achieve seamless and
intuitive control. This paper presents an integrated solution based on several
elements: calibration-free motion capture and retargeting, low-latency fast
whole-body kinematics streaming toolbox and high-bandwidth cycloidal actuators.
Our motion retargeting approach stands out for its simplicity, requiring only 7
IMUs to generate full-body references for the robot. The kinematics streaming
toolbox, ensures real-time, responsive control of the robot's movements,
significantly reducing latency and enhancing operational efficiency.
Additionally, the use of cycloidal actuators makes it possible to withstand
high speeds and impacts with the environment. Together, these approaches
contribute to a teleoperation framework that offers unprecedented performance.
Experimental results on the humanoid robot Nadia demonstrate the effectiveness
of the integrated system.