Utilizing plantar pressure perception for teleoperation: enhancing the control of humanoid robot wheeled chassis

To enhance the response sensitivity and user interaction experience in the teleoperation control of a humanoid robot’s wheeled chassis, this paper proposes a teleoperation control system based on plantar pressure perception shoes and introduces a dynamic region boundary adjustment strategy. This strategy increases the absolute value of the pressure difference between the front and rear feet regions, allowing users to achieve significant control effects with small movements. We designed and conducted experiments for polynomial fitting and analysis, and control strategy validation, ultimately determining the specific model of the mapping function. Experimental results show that after dynamic boundary adjustment, the system achieves a greater absolute value of the pressure difference, providing higher linear velocity output under the same mapping conditions. This makes the system more responsive and significantly improves the user interaction experience.