Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts. Precise coordination between humans and robots is crucial for accomplishing whole-body behaviors involving locomotion and manipulation. To progress successfully, dynamic synchronization between humans and humanoid robots must be achieved. This work enhances advancements in whole-body dynamic telelocomotion, addressing challenges in robustness. By embedding the hybrid and underactuated nature of bipedal walking into a virtual human walking interface, we achieve dynamically consistent walking gait generation. Additionally, we integrate a reactive robot controller into a whole-body dynamic telelocomotion framework. Thus, allowing the realization of telelocomotion behaviors on the full-body dynamics of a bipedal robot. Real-time telelocomotion simulation experiments validate the effectiveness of our methods, demonstrating that a trained human pilot can dynamically synchronize 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 enabling backward walking for distances of up to 2.0 m. This research contributes to advancing teleoperated humanoid robots and paves the way for future developments in synchronized locomotion between humans and bipedal robots.

翻译：远程操作的人形机器人作为人类在危险和不可达环境中的物理化身具有显著潜力，其目标是通过这些机器人载体传递人类智能与感觉运动技能。人与机器人之间的精确协调对于实现涉及运动和操控的全身行为至关重要。为取得进展，必须达成人类与人形机器人之间的动态同步。本研究推进了全身动态远程行走技术的发展，解决了鲁棒性方面的挑战。通过将双足行走的混合与欠驱动特性嵌入虚拟人类行走界面，我们实现了动态一致的步态生成。此外，我们将一个反应式机器人控制器集成到全身动态远程行走框架中，从而允许在双足机器人全身动力学上实现远程行走行为。实时远程行走仿真实验验证了我们方法的有效性，结果表明训练有素的人类操作员能够与模拟双足机器人实现动态同步，完成持续运动，将行走速度控制在0.0米/秒至0.3米/秒范围内，并实现最远2.0米的后退行走。本研究为推进远程操作人形机器人技术做出贡献，并为人类与双足机器人之间同步行走的未来发展铺平道路。