用改进的雅可比矩阵和松弛屏障函数，实现上半身人形机器人无自碰撞的高效虚拟现实遥操作。
Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
- 通过修正任务雅可比矩阵分配追踪器，提升操作精度。
- 在真实硬件上完成拾取、放置和双手交接等复杂任务。
- 适合需要自然交互的机器人遥操作场景。
我们提出一种方法，将现成的虚拟现实（VR）追踪设备有效用于上半身人形机器人的遥操作，并确保动作无自碰撞。关键在于通过改进的任务雅可比矩阵和松弛的屏障函数，合理分配追踪器与关节组的对应关系。该方法在 Apptronik Astro 硬件平台上验证，成功实现了桌面上的物品抓取与堆放，以及双手协同抓取并传递盒子的任务。
原文摘要 · Abstract (English)
We present an approach for retartgeting off-the-shelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Key to the effectiveness was the proper assignment of trackers to joint sets via modified task Jacobians and relaxed barrier functions for self-collision avoidance. The approach was validated on Apptronik's Astro hardware by demonstrating manipulation capabilities on a table-top environment with pick-and-place box packing and a two-handed box pick up and handover task.
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