Electronic devices, force-sensing whole-body remote control methods for robots and storage vehicles.

Abstract

The invention relates to an electronic device, method, and storage medium for the force-aware remote control of a robot's whole body. The electronic device comprises an interface circuit, at least one processor including a processing circuit, and memory for storing instructions which, when executed by at least one processor individually or in combination, cause the electronic device to: receive motion commands from the operator's control device; generate reference motion adjusted to the robot's load state; estimate the interaction force at at least one actuator based on feedback signals from the actuator; generate force contextual information by encoding the estimated interaction force and the joint configuration of the upper body; generate target joint values ​​for the lower and upper body using two control policies conditioned by the force contextual information; and generate haptic feedback based on the estimated interaction force and transmit it to the operator's control device.

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