UTTG_ A Universal Teleoperation Approach via Online Trajectory Generation
Journal:
arXiv
Published Date:
Apr 28, 2025
Abstract
Teleoperation is crucial for hazardous environment operations and serves as a
key tool for collecting expert demonstrations in robot learning. However,
existing methods face robotic hardware dependency and control frequency
mismatches between teleoperation devices and robotic platforms. Our approach
automatically extracts kinematic parameters from unified robot description
format (URDF) files, and enables pluggable deployment across diverse robots
through uniform interfaces. The proposed interpolation algorithm bridges the
frequency gap between low-rate human inputs and high-frequency robotic control
commands through online continuous trajectory generation, \n{while requiring no
access to the closed, bottom-level control loop}. To enhance trajectory
smoothness, we introduce a minimum-stretch spline that optimizes the motion
quality. The system further provides precision and rapid modes to accommodate
different task requirements. Experiments across various robotic platforms
including dual-arm ones demonstrate generality and smooth operation performance
of our methods. The code is developed in C++ with python interface, and
available at https://github.com/IRMV-Manipulation-Group/UTTG.
