HOMIE: 同型外骨格コックピットによるヒューマノイドの移動・操作
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
ペダル・同型外骨格アーム・モーションセンシンググローブを統合した半自律遠隔操作システムで、ヒューマノイドの全身移動と器用な物体操作を低コストかつ効率的に実現する。
著者: Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang
分類: cs.RO, cs.AI, cs.HC
原文アブストラクト
Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation. To address this, this paper introduces HOMIE, a semi-autonomous teleoperation system that combines a reinforcement learning policy for body control mapped to a pedal, an isomorphic exoskeleton arm for arm control, and motion-sensing gloves for hand control, forming a unified cockpit to freely operate humanoids and establish a data flywheel. The policy incorporates novel designs, including an upper-body pose curriculum, a height-tracking reward, and symmetry utilization. These features enable the system to perform walking and squatting to specific heights while seamlessly adapting to arbitrary upper-body poses. The exoskeleton, by eliminating the reliance on inverse dynamics, delivers faster and more precise arm control. The gloves utilize Hall sensors instead of servos, allowing even compact devices to achieve 15 or more degrees of freedom and freely adapt to any model of dexterous hands. Compared to previous teleoperation systems, HOMIE stands out for its exceptional efficiency, completing tasks in half the time; its expanded working range, allowing users to freely reach high and low areas as well as interact with any objects; and its affordability, with a price of just $500. The system is fully open-source, demos and code can be found in our https://homietele.github.io/.
