Humanoid social robots need to be able to move expressively. Traditional manipulation-focused teleoperation systems primarily control the end-effector's position and orientation, neglecting the extra degrees of freedom in human and robotic arms, which can lead to unnatural movements. This demonstration presents our Optimization-based Customizable Retargeting Algorithm (OCRA), designed for real-time motion mapping between dissimilar kinematic chains. OCRA functions well with widely varying robot-arm joint configurations. The presenter will use a commercial motion-capture suit to teleoperate the upper body of a NAO humanoid robot, demonstrating OCRA's ability to create intuitive, human-like movements in real time.
| Author(s): | Mayumi Mohan and Katherine J. Kuchenbecker |
| Book Title: | Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) |
| Pages: | 1797--1799 |
| Year: | 2025 |
| Month: | April |
| Project(s): | |
| BibTeX Type: | Conference Paper (inproceedings) |
| Address: | Melbourne, Australia |
| DOI: | 10.5555/3721488.3721772 |
| State: | Published |
| URL: | https://dl.acm.org/doi/abs/10.5555/3721488.3721772 |
| How Published: | Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI) |
BibTeX
@inproceedings{Mohan25-HRID-Teleoperation,
title = {My Robot, My Motion: Expressive Real-Time Teleoperation},
booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
abstract = {Humanoid social robots need to be able to move expressively. Traditional manipulation-focused teleoperation systems primarily control the end-effector's position and orientation, neglecting the extra degrees of freedom in human and robotic arms, which can lead to unnatural movements. This demonstration presents our Optimization-based Customizable Retargeting Algorithm (OCRA), designed for real-time motion mapping between dissimilar kinematic chains. OCRA functions well with widely varying robot-arm joint configurations. The presenter will use a commercial motion-capture suit to teleoperate the upper body of a NAO humanoid robot, demonstrating OCRA's ability to create intuitive, human-like movements in real time.},
pages = {1797--1799},
howpublished = {Hands-on demonstration presented at the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
address = {Melbourne, Australia},
month = apr,
year = {2025},
author = {Mohan, Mayumi and Kuchenbecker, Katherine J.},
doi = {10.5555/3721488.3721772},
url = {https://dl.acm.org/doi/abs/10.5555/3721488.3721772},
month_numeric = {4}
}