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Teleoperated humanoid robots hold significant potential as physical avatarsfor humans in hazardous and inaccessible environments, with the goal ofchanneling human intelligence and sensorimotor skills through these roboticcounterparts. Precise coordination between humans and robots is crucial foraccomplishing whole-body behaviors involving locomotion and manipulation. Toprogress successfully, dynamic synchronization between humans and humanoidrobots must be achieved. This work enhances advancements in whole-body dynamictelelocomotion, addressing challenges in robustness. By embedding the hybridand underactuated nature of bipedal walking into a virtual human walkinginterface, we achieve dynamically consistent walking gait generation.Additionally, we integrate a reactive robot controller into a whole-bodydynamic telelocomotion framework. Thus, allowing the realization oftelelocomotion behaviors on the full-body dynamics of a bipedal robot.Real-time telelocomotion simulation experiments validate the effectiveness ofour methods, demonstrating that a trained human pilot can dynamicallysynchronize with a simulated bipedal robot, achieving sustained locomotion,controlling walking speeds within the range of 0.0 m/s to 0.3 m/s, and enablingbackward walking for distances of up to 2.0 m. This research contributes toadvancing teleoperated humanoid robots and paves the way for futuredevelopments in synchronized locomotion between humans and bipedal robots.

Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation