让操作员通过体感遥控轮式人形机器人完成举重等重物搬运任务。
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
- 用人体动作映射控制机器人全身，结合体感反馈实现动态平衡调节。
- 成功搬运最大2.5公斤重物（占机器人自重21%），实现姿态与移动协同控制。
- 适合需要远程执行重物搬运的工业或救援场景，尤其关注人机协同稳定性。
人形机器人可通过全身协调动作在高体力负荷环境中协助人类，例如搬运和运输重物，这类任务称为动态移动操作（DMM），需同时控制运动、操作和姿态，且面临动态交互力。本文提出一种基于可调高度轮式人形机器人的DMM遥操作框架，通过人机界面（HMI）捕捉操作员动作，并应用体感反馈实现全身运动重定向。操作员以身体动作为主控制机器人姿态与移动，手臂动作引导操作。实时体感反馈提供末端执行器受力与平衡提示，形成人机感知闭环。实验评估了不同遥操作映射策略，支持手动或自动调节机器人倾斜以应对负载扰动。系统在搬运杠铃与箱子（最大2.5公斤，即机器人质量的21%）的动态举升任务中验证有效，展现出良好的全身协同控制、高度调节能力及扰动应对性能。视频演示见：https://youtu.be/jF270_bG1h8?feature=shared
原文摘要 · Abstract (English)
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile Manipulation (DMM), require the simultaneous control of locomotion, manipulation, and posture under dynamic interaction forces. This paper presents a teleoperation framework for DMM on a height-adjustable wheeled humanoid robot for carrying heavy payloads. A Human-Machine Interface (HMI) enables whole-body motion retargeting from the human pilot to the robot by capturing the motion of the human and applying haptic feedback. The pilot uses body motion to regulate robot posture and locomotion, while arm movements guide manipulation.Real time haptic feedback delivers end effector wrenches and balance related cues, closing the loop between human perception and robot environment interaction. We evaluate the different telelocomotion mappings that offer varying levels of balance assistance, allowing the pilot to either manually or automatically regulate the robot's lean in response to payload-induced disturbances. The system is validated in experiments involving dynamic lifting of barbells and boxes up to 2.5 kg (21% of robot mass), demonstrating coordinated whole-body control, height variation, and disturbance handling under pilot guidance. Video demo can be found at: https://youtu.be/jF270_bG1h8?feature=shared
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。