A Multi-Mode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot

Luigi Penco (1) , Nicola Scianca (2) , Valerio Modugno (3) , Leonardo Lanari (2) , Giuseppe Oriolo (3) , Serena Ivaldi (1)

1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
2 DIAG UNIROMA - Dipartimento di Ingegneria informatica automatica e gestionale [Roma]
3 Dipartimento di Informatica e Sistemistica [Rome]

Over the years, there have been many improvements in job-related safety standards and working conditions, but there are still many situations and environments where human lives are put at risk, such as in search and rescue situations, construction sites, and chemical plants. We envision a world where robots can act as physical avatars and effectively replace humans in those hazardous scenarios through teleoperation.

Domaines: Robotique [cs.RO]

Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, et al.. A Multi-Mode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot. IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.73-82. ⟨10.1109/MRA.2019.2941245⟩. ⟨hal-02291907⟩