2024/11/12 by Steven Jens Jorgensen, Jorgensen, Steven Jens, Ravi Bhadeshiya +1
Engineering · Medicine · Psychology · #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Machine Learning (cs.LG) #Robotic Locomotion and Control #Robotics (cs.RO) #Winter Sports Injuries and Performance
paper · pdf · doi:10.48550/arxiv.2411.07534
openalex publication_date 2024/11/12 · openalex created_date 2024/11/15 · openalex updated_date 2026/07/28
We present an approach for retartgeting off-the-shelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Key to the effectiveness was the proper assignment of trackers to joint sets via modified task Jacobians and relaxed barrier functions for self-collision avoidance. The approach was validated on Apptronik's Astro hardware by demonstrating manipulation capabilities on a table-top environment with pick-and-place box packing and a two-handed box pick up and handover task.