수정된 작업 야코비안과 자체 충돌 방지를 위한 완화된 장벽 함수를 사용한 상체 휴머노이드의 효과적인 가상 현실 원격 조작
본 논문에서는 수정된 작업 야코비안과 자체 충돌 방지를 위한 완화된 장벽 함수를 사용하여 상체 휴머노이드 로봇을 효과적으로 원격 조작하기 위한 VR 인터페이스 접근 방식을 제시합니다.
修正されたタスクヤコビアンと自己衝突回避のための緩和バリア関数を使用した、上半身ヒューマノイドの効果的なバーチャルリアリティ遠隔操作
本稿では、上半身ヒューマノイドロボットの直感的かつ安全な遠隔操作を実現するため、修正タスクヤコビアンを用いたVRトラッカーの関節マッピングと、緩和バリア関数による自己衝突回避を統合した新規アプローチを提案する。
Teleoperating an Upper-Body Humanoid in Virtual Reality Using Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
By modifying task Jacobians to simplify joint control mapping and incorporating relaxed barrier functions for real-time self-collision avoidance, this approach makes VR teleoperation of an upper-body humanoid robot more intuitive, safe, and efficient.
Real-Time Human-to-Humanoid Teleoperation Framework with Reinforcement Learning
The author presents a reinforcement learning-based framework for real-time whole-body teleoperation of humanoid robots using only an RGB camera. The main thesis is to enable seamless integration of human cognitive skills with versatile humanoid capabilities through learning-based real-time teleoperation.
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