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arXiv · 2411.07534

Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance

Steven Jens Jorgensen·Ravi Bhadeshiya
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Abstract

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.

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Steven Jens Jorgensen, Ravi Bhadeshiya. 2024-11-12. Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance. https://arxiv.org/abs/2411.07534

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