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My Robot, My Motion: Expressive Real-Time Teleoperation
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.
@misc{Mohan25-HRID-Teleoperation, title = {My Robot, My Motion: Expressive Real-Time Teleoperation}, booktitle = {Proceedings of the IEEE/ACM International Conference on Human-Robot Interaction}, 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 IEEE/ACM 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} }