  Teleoperated humanoid robots hold significant potential as physical avatars
for humans in hazardous and inaccessible environments, with the goal of
channeling human intelligence and sensorimotor skills through these robotic
counterparts. Precise coordination between humans and robots is crucial for
accomplishing whole-body behaviors involving locomotion and manipulation. To
progress successfully, dynamic synchronization between humans and humanoid
robots must be achieved. This work enhances advancements in whole-body dynamic
telelocomotion, addressing challenges in robustness. By embedding the hybrid
and underactuated nature of bipedal walking into a virtual human walking
interface, we achieve dynamically consistent walking gait generation.
Additionally, we integrate a reactive robot controller into a whole-body
dynamic telelocomotion framework. Thus, allowing the realization of
telelocomotion behaviors on the full-body dynamics of a bipedal robot.
Real-time telelocomotion simulation experiments validate the effectiveness of
our methods, demonstrating that a trained human pilot can dynamically
synchronize with a simulated bipedal robot, achieving sustained locomotion,
controlling walking speeds within the range of 0.0 m/s to 0.3 m/s, and enabling
backward walking for distances of up to 2.0 m. This research contributes to
advancing teleoperated humanoid robots and paves the way for future
developments in synchronized locomotion between humans and bipedal robots.
