Transferring human motion to a mobile robot manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a whole-body robot teleoperation framework for human motion transfer. We validate our approach through several experiments with the TIAGo robot, demonstrating that this can be an easy way for a non-expert to teach a rough manipulation skill to a support robot.

The project documentation can be found at https://arxiv.org/abs/1909.06278

Authors: Miguel Arduengo, Ana Arduengo, Adrià Colomé, Joan Lobo-Prat, Carme Torras.

(2019)

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