Dynamic Locomotion Teleoperation of a Wheeled Humanoid Robot Reduced Model with a Whole-Body Human-Machine Interface

Understand

Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels.

• It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.
• However, dynamic bilateral locomotion teleoperation remains as a challenge due to the complex dynamics it involves.
• This work presents our initial step to tackle this challenge via the concept of wheeled humanoid robot locomotion teleoperation by body tilt.