Preprint
Oct 2026
Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid Teleoperation
Real-time bimanual humanoid teleoperation requires accurate wrist tracking while keeping arm configurations predictable. Because a 7-DoF arm admits multiple elbow configurations for the same wrist pose, wrist-only tracking can cause elbow drift or abrupt configuration changes. Fixed anthropomorphic constraints can stab...
Chao Tan, Ming Shin Cindy Sung, Shu-Xian Liang et al.
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