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.
| Author(s): | Mayumi Mohan and Katherine J. Kuchenbecker |
| Book Title: | Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) |
| Year: | 2025 |
| Month: | March |
| Project(s): | |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Melbourne, Australia |
| State: | Published |
| How Published: | Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI) |
BibTex
@inproceedings{Mohan25-HRID-Teleoperation,
title = {My Robot, My Motion: Expressive Real-Time Teleoperation},
booktitle = {Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
abstract = {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.},
howpublished = {Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
address = {Melbourne, Australia},
month = mar,
year = {2025},
slug = {mohan25-hrid-teleoperation},
author = {Mohan, Mayumi and Kuchenbecker, Katherine J.},
month_numeric = {3}
}