Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid Teleoperation
Real-time bimanual humanoid teleoperation requires accurate wrist tracking while keeping arm configurations predictable.
ProofPaper ↗
Key points
- We propose a human-like redundancy-resolution framework that combines adaptive elbow guidance with singularity-robust wrist tracking.
- Shoulder-wrist geometric retargeting generates robot-scale wrist targets.
- An adaptive elbow-offset criterion uses the offset direction to guide posture and scales this guidance by the offset magnitude, so the redundant degree of freedom is progressively released as the human arm straightens.
- Real-world bimanual tasks and cross-platform retargeting show applicability across robot morphologies.
Sources (1)
- [1]Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid TeleoperationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 12, 02:26 PM
Real-time bimanual humanoid teleoperation requires accurate wrist tracking while keeping arm configurations predictable.
We propose a human-like redundancy-resolution framework that combines adaptive elbow guidance with singularity-robust wrist tracking.
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