Mixed Reality Teleoperation Assistance for Direct Control of Humanoids

• Main Authors: Penco, Luigi, Momose, Kazuhiko, McCrory, Stephen, Anderson, Dexton, Kitchel, Nicholas, Calvert, Duncan, Griffin, Robert J
• Format: Journal Article
• Language: English
• Published: 01-11-2024
• Subjects: Computer Science - Robotics
• DOI: 10.48550/arxiv.2411.01014

Teleoperation plays a crucial role in enabling robot operations in
challenging environments, yet existing limitations in effectiveness and
accuracy necessitate the development of innovative strategies for improving
teleoperated tasks. This article introduces a novel approach that utilizes
mixed reality and assistive autonomy to enhance the efficiency and precision of
humanoid robot teleoperation. By leveraging Probabilistic Movement Primitives,
object detection, and Affordance Templates, the assistance combines user motion
with autonomous capabilities, achieving task efficiency while maintaining
human-like robot motion. Experiments and feasibility studies on the Nadia robot
confirm the effectiveness of the proposed framework.