人間らしい冗長性解決によるリアルタイム両腕ヒューマノイド遠隔操作

原文アブストラクト

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.