My Robot, My Motion: Expressive Real-Time Teleoperation

摘要

Humanoid social robots need to be able to move expressively. Traditional manipulation-focused teleoperation systems primarily control the end-effector's position and orientation, neglecting the extra degrees of freedom in human and robotic arms, which can lead to unnatural movements. This demonstration presents our Optimization-based Customizable Retargeting Algorithm (OCRA), designed for real-time motion mapping between dissimilar kinematic chains. OCRA functions well with widely varying robot-arm joint configurations. The presenter will use a commercial motion-capture suit to teleoperate the upper body of a NAO humanoid robot, demonstrating OCRA's ability to create intuitive, human-like movements in real time.