多接触遠隔操作と物理的インタラクションのための実現可能性リターゲティング
Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction
操作者からの指令をリアルタイムに調整し、下位コントローラへ送る参照姿勢が実行可能となるようにするSEIKOフレームワークを提案し、人型・四足ロボットのシミュレーションと実機での両手持ち運搬タスクで検証した。
著者: Quentin Rouxel, Ruoshi Wen, Zhibin Li, Carlo Tiseo, Jean-Baptiste Mouret, Serena Ivaldi
分類: cs.RO
原文アブストラクト
This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO adapts commands from the operator in real-time and ensures that the reference configuration sent to the underlying controller is feasible. Additionally, an admittance scheme is used to implement physical interaction, which is then combined with the operator's command and retargeted. SEIKO has been applied in simulations on various robots, including humanoid and quadruped robots designed for loco-manipulation. Furthermore, SEIKO has been tested on real hardware for bimanual heavy object carrying tasks.
