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Haptic Intelligence Conference Paper 2025

My Robot, My Motion: Expressive Real-Time Teleoperation

Haptic Intelligence
Mayumi Mohan
  • Research Scientist
Haptic Intelligence
Katherine J. Kuchenbecker
Director

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}
}