Whole-Body Teleoperation and Data-Collection Infrastructure for Humanoids

2024年1月1日 · 1 min read
research

To support foundation-model learning on humanoids and quadruped robots, we develop whole-body teleoperation interfaces and data-collection environments. From affordable exoskeletons for whole-body teleop, to semi-autonomous data collection guided by behavior trees, to evaluation benchmarks for teleop systems, we strengthen the infrastructure that underpins the quantity and quality of action-learning data.

Related papers:

  • Kazuki Miyazawa, Yuta Kuroda, Takato Horii. “Evaluation Benchmarks for Whole-Body Teleoperation of Humanoids” (in Japanese). 43rd Annual Conference of the Robotics Society of Japan, September 2025.
  • Kaito Iwamoto, Kazuki Miyazawa, Takato Horii, Hiroshi Ishiguro. “Behavior-Tree-Based Data-Collection Support for Robot Foundation Models” (in Japanese). 43rd Annual Conference of the Robotics Society of Japan, September 2025.
  • Yuta Kuroda, Kazuki Miyazawa, Takato Horii. “MAITET: Development of an Affordable Modular Multi-Joint Whole-Body Exoskeleton for Humanoids” (in Japanese). Robotics and Mechatronics Conference 2026, June 2026.
  • Yusuke Yamada, Tatsuya Aoki, Kazuki Miyazawa, Kensuke Iwata, Takato Horii. “A Teleoperation System Supporting Whole-Body Manipulation Learning for Quadruped Robots” (in Japanese). 43rd Annual Conference of the Robotics Society of Japan, September 2025.
Motor-Skill-Learning
Takato Horii
Authors
Takato Horii (he/him)
Associate Professor
Associate Professor at Graduate School of Engineering Science, Osaka University. Research interests include cognitive developmental robotics, computational modeling of emotional development, and human-robot interaction.