Let the Body Follow: Coupled Egocentric Control for Whole-Body Robot Teleoperation

Whole-body teleoperation asks an operator to coordinate perception, manipulation, posture, and mobility across a robot's head, arms, torso, and base. Let the Body Follow studies an egocentric control strategy that couples these elements into a more unified interaction.

The proposed mapping uses head pitch to adjust torso height, head yaw to drive base rotation, end-effector height to influence torso motion, and workspace boundaries to trigger base translation.

The authors evaluate the interface on a TIAGo mobile manipulator in home-care-inspired tasks. Their user study reports gains in manipulation efficiency and reductions in button-based control effort, arm singularities, mental demand, and overall workload against the study baseline.

The egocentric design keeps the operator's visual attention connected to the robot task while body motion supplies control intent. This makes viewpoint, head movement, arm reach, and workspace boundaries central parts of the interaction design.

The cited arXiv paper provides the control mapping, task design, user-study method, quantitative results, and author discussion.