Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion

Understand

For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected.

• A promising solution is to leverage human prowess by interconnecting robot and human via teleoperation.
• Towards creating seamless operation, this paper presents a dynamic telelocomotion framework that synchronizes the gait of a human pilot with the walking of a bipedal robot.
• First, we introduce a method to generate a virtual human walking model from the stepping behavior of a human pilot which serves as a reference for the robot to walk.