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Bilateral teleoperation provides humanoid robots with human planningintelligence while enabling the human to feel what the robot feels. It has thepotential to transform physically capable humanoid robots into dynamicallyintelligent ones. However, dynamic bilateral locomotion teleoperation remainsas a challenge due to the complex dynamics it involves. This work presents ourinitial step to tackle this challenge via the concept of wheeled humanoid robotlocomotion teleoperation by body tilt. Specifically, we developed aforce-feedback-capable whole-body human-machine interface (HMI), and designed aforce feedback mapping and two teleoperation mappings that map the human's bodytilt to the robot's velocity or acceleration. We compared the two mappings andstudied the force feedback's effect via an experiment, where seven humansubjects teleoperated a simulated robot with the HMI to perform dynamic targettracking tasks. The experimental results suggest that all subjects accomplishedthe tasks with both mappings after practice, and the force feedback improvedtheir performances. However, the subjects exhibited two distinct teleoperationstyles, which benefited from the force feedback differently. Moreover, theforce feedback affected the subjects' preferences on the teleoperationmappings, though most subjects performed better with the velocity mapping.

Dynamic Locomotion Teleoperation of a Wheeled Humanoid Robot Reduced Model with a Whole-Body Human-Machine Interface