We present a virtual reality (VR) framework designed to intuitively generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework allows the operator to directly manipulate the inverse kinematics objectives which parameterize a trajectory. Kinematic objectives consisting of spatial poses, center-of-mass position and joint positions are used in an optimization based inverse kinematics solver to compute whole-body configurations while enforcing static contact stability. Virtual ``anchors'' allow the operator to freely drag and constrain the robot as well as modify objective weights and constraint sets. The interface's design novelty is a generalized use of anchors which enables arbitrary posture and contact modes. The operator is aided by visual cues of actuation feasibility and tools for rapid anchor placement. We demonstrate our approach in simulation and hardware on a NASA Valkyrie humanoid, focusing on multi-contact trajectories which are challenging to generate autonomously or through alternative teleoperation approaches.

翻译：我们提出了一种虚拟现实（VR）框架，旨在直观生成仿人机器人在非结构化环境中的多接触操作。该框架允许操作员直接操控参数化轨迹的逆运动学目标。包含空间位姿、质心位置和关节位置的运动学目标被用于基于优化的逆运动学求解器中，以在保证静态接触稳定性的同时计算全身构型。虚拟“锚点”使得操作员能够自由拖拽和约束机器人，并修改目标权重与约束集。该界面的设计创新在于锚点的泛化应用，从而支持任意姿态和接触模式。操作员可借助执行可行性视觉提示和快速锚点放置工具辅助操作。我们基于NASA Valkyrie仿人机器人在仿真与硬件平台上验证了该方法，重点关注那些难以通过自主生成或替代遥操作方案实现的多接触轨迹。