让身体跟随：用于全身机器人遥操作的耦合自我中心控制
Let the Body Follow: Coupled Egocentric Control for Whole-Body Robot Teleoperation
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中文总结 AI 辅助
研究全身机器人遥操作协调难题，提出耦合自我中心控制方法，通过机器人躯干和基座自动响应操作员头部及手臂动作，在用户研究中评估该方法，相比基线混合界面有诸多优势。
中文摘要 AI 辅助
全身遥操作要求用户协调多个机器人组件的感知、操作、姿势和移动性。这种协调很困难，因为用户必须同时控制机器人的头部、手臂、躯干和基座，同时保持任务意识并避免运动学或环境约束。本文提出了耦合自我中心控制，这是一种身体跟随遥操作方法，其中机器人的躯干和基座会自动响应操作员的头部和手臂动作。该系统让用户专注于注视和手部控制，而非每次都需要明确的触摸板命令来调整躯干或基座。我们在一项针对TIAGo移动操纵器进行家庭护理启发任务的全身遥操作用户研究中评估了这种方法。与基线混合界面相比，耦合自我中心控制提高了物体操纵效率，减少了基于按钮的控制工作量和手臂奇异点，降低了心理需求和总体工作量，并提高了易用性、易学习性、信心以及用户对躯干和基座控制的偏好。
英文摘要
Whole-body teleoperation requires users to coordinate perception, manipulation, posture, and mobility across multiple robot components. This coordination is difficult because users must simultaneously control the robot's head, arms, torso, and base while maintaining task awareness and avoiding kinematic or environmental constraints. In this paper, we propose coupled egocentric control, a body-following teleoperation approach in which the robot's torso and base automatically respond to the operator's head and arm motions. Rather than requiring explicit touchpad commands for every torso or base adjustment, the system lets users focus on gaze and hand control: head pitch adjusts torso height, head yaw drives base rotation, end-effector height adjusts torso motion, and end-effector workspace boundaries trigger base translation. We evaluate this approach in a user study on whole-body teleoperation of a TIAGo mobile manipulator for home-care-inspired tasks. Compared with a baseline hybrid interface, coupled egocentric control improves object manipulation efficiency, reduces button-based control effort and arm singularities, lowers mental demand and overall workload, and increases ease of use, ease of learning, confidence, and user preference for torso and base control.
发表机构
- New Jersey Institute of Technology（新泽西理工学院）
- Johns Hopkins University（约翰霍普金斯大学）
机构由 AI 辅助整理，请以论文原文为准。
