无需标定的动捕与高速驱动，让人形机器人远程操控更稳更快。
High-Speed and Impact Resilient Teleoperation of Humanoid Robots
- 仅用7个惯性传感器实现全身动作捕捉与重定向
- 低延迟全身体运动数据流传输，响应速度显著提升
- 高带宽谐波减速器抗冲击，支持高速操作
人形机器人远程操控长期面临软硬件协同挑战。本文提出集成方案：免标定动捕与重定向、低延迟全身体运动数据流工具箱、高带宽谐波驱动器。其动作重定向方法仅需7个惯性测量单元（IMUs）即可生成机器人全身运动参考；运动数据流工具箱实现实时响应控制，大幅降低延迟，提升操作效率；配合谐波驱动器，系统可承受高速运行及环境碰撞。在人形机器人Nadia上的实验验证了该框架的卓越性能。
原文摘要 · Abstract (English)
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements: calibration-free motion capture and retargeting, low-latency fast whole-body kinematics streaming toolbox and high-bandwidth cycloidal actuators. Our motion retargeting approach stands out for its simplicity, requiring only 7 IMUs to generate full-body references for the robot. The kinematics streaming toolbox, ensures real-time, responsive control of the robot's movements, significantly reducing latency and enhancing operational efficiency. Additionally, the use of cycloidal actuators makes it possible to withstand high speeds and impacts with the environment. Together, these approaches contribute to a teleoperation framework that offers unprecedented performance. Experimental results on the humanoid robot Nadia demonstrate the effectiveness of the integrated system.
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