外观
论文arXiv 2610.1685516 天前
面向实时双臂人形机器人遥操作的类人冗余解析
原文链接：Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid Teleoperation（arXiv 2610.16855 · 发布日期：2026-10-12）
Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid Teleoperation
针对双臂人形遥操作中腕部跟踪与肘部姿态稳定的矛盾，提出自适应肘部引导和抗奇异腕部跟踪，并在消融、压力测试与真机任务中验证。
核心要点
- 7自由度手臂同一腕姿可对应多种肘部构型，单跟踪腕部易致肘漂移或突变。
- 框架以肩—腕几何重定向生成腕目标，并用随偏移大小缩放的肘偏移准则引导姿态。
- 分层速度求解器优先腕部跟踪，将自适应肘部引导投影到腕部任务零空间。
- 消融中肘方向误差降低54.4%，压力测试中峰值原始关节速度需求降低97.9%。
验证范围与局限：验证包括固定腕目标消融、工作空间边界压力测试、真实双臂任务和跨平台重定向。
英文摘要 (Abstract)
Real-time bimanual humanoid teleoperation requires accurate wrist tracking while keeping arm configurations predictable. Because a 7-DoF arm admits multiple elbow configurations for the same wrist pose, wrist-only tracking can cause elbow drift or abrupt configuration changes. Fixed anthropomorphic constraints can stabilize elbow posture, but they can also block the redundant adjustments needed near singular configurations. We propose a human-like redundancy-resolution framework that combines adaptive elbow guidance with singularity-robust wrist tracking. Shoulder-wrist geometric retargeting generates robot-scale wrist targets. An adaptive elbow-offset criterion uses the offset direction to guide posture and scales this guidance by the offset magnitude, so the redundant degree of freedom is progressively released as the human arm straightens. A hierarchical velocity solver prioritizes wrist tracking and projects the adaptive elbow guidance into the wrist-task null space. In a fixed-wrist-target ablation, adaptive guidance reduces mean elbow-direction error by 54.4% compared with removing this guidance. In a workspace-boundary stress test, singularity-robust tracking reduces peak raw joint-velocity demand by 97.9% compared with the undamped pseudoinverse. Real-world bimanual tasks and cross-platform retargeting show applicability across robot morphologies.
作者：Chao Tan, Ming Shin Cindy Sung, Shuxian Liang, Chaoqun Wan, Zhen Huang, Xian‐Sheng Hua
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