Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
Authors:
Luigi Penco,
Beomyeong Park,
Stefan Fasano,
Nehar Poddar,
Stephen McCrory,
Nicholas Kitchel,
Tomasz Bialek,
Dexton Anderson,
Duncan Calvert,
Robert Griffin
Abstract:
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the user to the robot in real-time. Instead of directly replicating user foot poses, we retarget user steps to robot footstep locations, allowing the robot to utiliz…
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Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the user to the robot in real-time. Instead of directly replicating user foot poses, we retarget user steps to robot footstep locations, allowing the robot to utilize its own dynamics for locomotion, ensuring better balance and stability. Our method anticipates user footsteps to minimize delays between when the user initiates and completes a step and when the robot does it. The step estimates are continuously adapted to converge with the measured user references. Additionally, the system autonomously adjusts the robot's steps to account for its surrounding terrain, overcoming challenges posed by environmental mismatches between the user's flat-ground setup and the robot's uneven terrain. Experimental results on the humanoid robot Nadia demonstrate the effectiveness of the proposed system.
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Submitted 15 August, 2025;
originally announced August 2025.
Mixed Reality Teleoperation Assistance for Direct Control of Humanoids
Authors:
Luigi Penco,
Kazuhiko Momose,
Stephen McCrory,
Dexton Anderson,
Nicholas Kitchel,
Duncan Calvert,
Robert J. Griffin
Abstract:
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This article introduces a novel approach that utilizes mixed reality and assistive autonomy to enhance the efficiency and precision of humanoid robot teleoperation.…
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Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This article introduces a novel approach that utilizes mixed reality and assistive autonomy to enhance the efficiency and precision of humanoid robot teleoperation. By leveraging Probabilistic Movement Primitives, object detection, and Affordance Templates, the assistance combines user motion with autonomous capabilities, achieving task efficiency while maintaining human-like robot motion. Experiments and feasibility studies on the Nadia robot confirm the effectiveness of the proposed framework.
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Submitted 1 November, 2024;
originally announced November 2024.