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      Telexistence and Teleoperation for Walking Humanoid Robots

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          Abstract

          This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus building upon and extending works available in literature. The approach allows a human operator to command and telexist with the robot. Therefore, in this work we treat aspects pertaining not only to the proposed architecture structure and implementation, but also the human operator experience in terms of ability to adapt to the robot and to the architecture. Also the proprioception aspects and embodiment of the robot are studied through specific experimental results, which are also treated in a somewhat formal, albeit high-level manner. Application of the proposed architecture and experiments incorporating user training and experience are addressed using an illustrative bipedal humanoid robot, namely the iCub robot.

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          YARP: Yet Another Robot Platform

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            A clustering technique for digital communications channel equalization using radial basis function networks

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              An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots

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                Author and article information

                Journal
                05 September 2018
                Article
                1809.01578

                http://arxiv.org/licenses/nonexclusive-distrib/1.0/

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                cs.RO

                Robotics

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