We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The operator configures a pre-execution preview robot through contact points and kinematic tasks. A fast estimation of the preview robot's quasi-static feasibility is performed by checking contact stability and collisions along an interpolated trajectory. A visualization of Center of Mass (CoM) stability margin, based on friction and actuation constraints, is displayed and can be previewed if the operator chooses to add or remove contacts. Contact points can be placed anywhere on a mesh approximation of the robot surface, enabling motions with knee or forearm contacts. We demonstrate our approach in simulation and hardware on a NASA Valkyrie humanoid, focusing on multi-contact trajectories which are challenging to generate autonomously or through alternative teleoperation approaches.

Abstract-- Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it. Many legged robots are best represented by nontrivial multibody dynamic models. The total system center of mass (CoM) is likely the most well-known of these model-based coordinates.

Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and complex problem. In this paper, we tackle the problems associated with quickly and interactively authoring new robot behavior that works on real hardware. We bring the powerful concepts of Affordance Templates and Coactive Design methodology to this problem to attempt to solve and explain it. In our approach we use interactive stance and hand pose goals along with other types of actions to author humanoid robot behavior on the fly. We then describe how our operator interface works to author behaviors on the fly and provide interdependence analysis charts for task approach and door opening. We present timings from real robot performances for traversing a push door and doing a pick and place task on our Nadia humanoid robot.

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey paper gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications. A web-based version of the paper can be found at https://humanoid-teleoperation.github.io/.