Search papers, labs, and topics across Lattice.
This paper introduces a novel motion retargeting framework, Kilohertz-Safe, that reformulates nonlinear dexterous hand teleoperation as a convex quadratic program in joint differential space to achieve both high-frequency performance and constraint satisfaction. The framework incorporates linearized kinematic constraints and control barrier functions to ensure safety, including collision avoidance. Experimental results on the Wuji Hand demonstrate that Kilohertz-Safe outperforms existing methods, achieving an average latency of 9.05 ms with over 95% of frames satisfying safety criteria.
Achieve kilohertz-level dexterous hand teleoperation with formal safety guarantees, a feat previously limited by computational cost and lack of safety in existing methods.
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based approaches often incur prohibitive computational cost, limiting their applicability to kilohertz-level control, while learning-based methods typically lack formal safety guarantees. This paper proposes a scalable motion retargeting framework that reformulates the nonlinear retargeting problem into a convex quadratic program in joint differential space. Heterogeneous constraints, including kinematic limits and collision avoidance, are incorporated through systematic linearization, resulting in improved computational efficiency and numerical stability. Control barrier functions are further integrated to provide formal safety guarantees during the retargeting process. The proposed framework is validated through simulations and hardware experiments on the Wuji Hand platform, outperforming state-of-the-art methods such as Dex-Retargeting and GeoRT. The framework achieves high-frequency operation with an average latency of 9.05 ms, while over 95% of retargeted frames satisfy the safety criteria, effectively mitigating self-collision and penetration during complex manipulation tasks.
