CHILD（人形机器人模仿与实时演示控制器）：一种全身人形遥操作系统
CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
AI总结：
提出CHILD全身人形遥操作系统，实现关节级控制，支持全身控制与移动操作，集成力反馈，并通过实验验证，开源硬件设计。
摘要：
遥操作领域的最新进展已展示出机器人执行复杂操作任务的能力。然而，现有工作很少支持人形机器人的全身关节级遥操作，这限制了可完成任务类型的多样性。本研究提出了人形机器人模仿与实时演示控制器（CHILD），一种紧凑型可重构遥操作系统，能够实现对人形机器人的关节级控制。CHILD可适配于标准婴儿背带中，使操作员能够控制所有四肢，并支持用于全身控制的直接关节映射以及移动操作。系统集成了自适应力反馈，以增强操作员体验并防止不安全的关节运动。我们通过在人形机器人和多个双臂系统上执行移动操作和全身控制演示，验证了该系统的能力。最后，我们开源了硬件设计，以促进可访问性和可复现性。更多细节和开源信息可在我们的项目网站上获取：https://uiuckimlab.github.io/CHILD-pages。
英文摘要：
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.
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。
