A bilateral teleoperation system facilitates locomotion synchronization of a human operator and a small bipedal robot. Despite remarkable progress in artificial intelligence, autonomous humanoid robots are still far from matching human-level manipulation and locomotion proficiency in real applications. Proficient robots would be ideal first responders to dangerous scenarios such as natural or man-made disasters. When handling these situations, robots must be capable of navigating highly unstructured terrain and dexterously interacting with objects designed for human workers. To create humanoid machines with human-level motor skills, in this work, we use whole-body teleoperation to leverage human control intelligence to command the locomotion of a bipedal robot. The challenge of this strategy lies in properly mapping human body motion to the machine while simultaneously informing the operator how closely the robot is reproducing the movement. Therefore, we propose a solution for this bilateral feedback policy to control a bipedal robot to take steps, jump, and walk in synchrony with a human operator. Such dynamic synchronization was achieved by (i) scaling the core components of human locomotion data to robot proportions in real time and (ii) applying feedback forces to the operator that are proportional to the relative velocity between human and robot. Human motion was sped up to match a faster robot, or drag was generated to synchronize the operator with a slower robot. Here, we focused on the frontal plane dynamics and stabilized the robot in the sagittal plane using an external gantry. These results represent a fundamental solution to seamlessly combine human innate motor control proficiency with the physical endurance and strength of humanoid robots.

中文翻译：

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双足机器人和操作员通过双边反馈遥操作的动态运动同步

双边遥操作系统可促进操作员和小型双足机器人的运动同步。尽管在人工智能方面取得了显着进步，但自主的类人机器人仍远未达到实际应用中与人类水平的操纵和运动能力相匹配的水平。熟练的机器人将是应对自然或人为灾难等危险情况的理想第一响应者。处理这些情况时，机器人必须能够在高度非结构化的地形中导航，并能够灵活地与为人类工作者设计的物体互动。为了创建具有人类运动技能的类人机器人，在这项工作中，我们使用全身遥控操作来利用人类控制智能来指挥双足机器人的运动。该策略的挑战在于将人体运动正确地映射到机器上，同时告知操作员机器人重现运动的紧密程度。因此，我们提出了一种针对这种双边反馈策略的解决方案，以控制双足机器人与操作员同步地采取步骤，跳跃和行走。通过（i）将人体运动数据的核心部分实时缩放到机器人比例，以及（ii）向操作员施加与人和机器人之间的相对速度成比例的反馈力，从而实现了这种动态同步。加快了人的动作以匹配速度更快的机器人，或者产生了阻力以使操作员与速度较慢的机器人同步。在这里，我们专注于额面动力学，并使用外部龙门将机器人稳定在矢状面中。