通过轮式人形机器人的触觉遥操作执行重物搬运任务
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
AI总结：
本文提出一种用于轮式人形机器人重物搬运的触觉遥操作框架，通过全身运动重定向和实时力反馈实现动态移动操作，实验验证了最大2.5公斤载荷的协调控制。
摘要：
人形机器人可以通过执行需要全身协调的任务（例如搬运和运输重物）来支持人类工人在体力要求高的环境中工作。这些任务我们称为动态移动操作（DMM），需要在动态交互力作用下同时控制移动、操作和姿态。本文提出了一种用于在高度可调的轮式人形机器人上执行重物搬运的DMM遥操作框架。人机接口（HMI）通过捕捉人类操作员的运动并施加触觉反馈，实现从人类操作员到机器人的全身运动重定向。操作员使用身体运动来调节机器人的姿态和移动，而手臂运动则引导操作。实时触觉反馈传递末端执行器力和平衡相关提示，在人类感知与机器人环境交互之间形成闭环。我们评估了不同的遥移动映射，这些映射提供不同级别的平衡辅助，允许操作员手动或自动调节机器人倾斜以响应载荷引起的扰动。该系统在涉及杠铃和箱子动态举升（最大2.5公斤，占机器人质量的21%）的实验中得到了验证，展示了在操作员引导下的协调全身控制、高度变化和扰动处理。视频演示可在以下网址找到：https://youtu.be/jF270_bG1h8?feature=shared
英文摘要：
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
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
