让操作员用身体控制人形机器人全肢体动作，支持实时演示与安全反馈。
CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
- 将控制设备集成于婴儿背带，实现四肢联动的全身关节级操控。
- 支持直接关节映射与步态-操作协同控制，可完成复杂任务演示。
- 具备自适应力反馈，适合人形机器人教学、远程操作等场景。
近期遥操作研究已实现机器人完成复杂操作任务，但现有方法极少支持人形机器人全身关节级遥操作，限制了任务多样性。本文提出一种紧凑可重构的遥操作系统CHILD（Controller for Humanoid Imitation and Live Demonstration），实现对人形机器人的关节级控制。该系统集成于标准婴儿背带内，使操作者可控制全部四肢，并支持直接关节映射以实现全身控制及步态-操作协同（loco-manipulation）。系统引入自适应力反馈机制，提升操作体验并防止危险关节运动。我们在人形机器人及多个双臂系统上验证了该系统的功能，成功完成步态-操作与全身控制演示。最后，我们开源硬件设计，推动可复现性与普及应用。更多细节与开源信息见项目主页：https://uiuckimlab.github.io/CHILD-pages。
原文摘要 · Abstract (English)
Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This work presents Controller for Humanoid Imitation and Live Demonstration (CHILD), a compact reconfigurable teleoperation system that enables joint level control over humanoid robots. CHILD fits within a standard baby carrier, allowing the operator control over all four limbs, and supports both direct joint mapping for full-body control and loco-manipulation. Adaptive force feedback is incorporated to enhance operator experience and prevent unsafe joint movements. We validate the capabilities of this system by conducting loco-manipulation and full-body control demonstrations on a humanoid robot and multiple dual-arm systems. Lastly, we open-source the design of the hardware promoting accessibility and reproducibility. Additional details and open-source information are available at our project website: https://uiuckimlab.github.io/CHILD-pages.
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