A Multimode Teleoperation Framework for Humanoid Loco-Manipulation: A Demonstration Using the iCub Robot

Over the years, there have been many improvements in job-related safety standards and working conditions, but there are still many situations and environments where human lives are put at risk, such as in search and rescue situations, construction sites, and chemical plants. We envision a world where robots can act as physical avatars and effectively replace humans in those hazardous scenarios through teleoperation.