  Humanoid robot teleoperation allows humans to integrate their cognitive
capabilities with the apparatus to perform tasks that need high strength,
manoeuvrability and dexterity. This paper presents a framework for
teleoperation of humanoid robots using a novel approach for motion retargeting
through inverse kinematics over the robot model. The proposed method enhances
scalability for retargeting, i.e., it allows teleoperating different robots by
different human users with minimal changes to the proposed system. Our
framework enables an intuitive and natural interaction between the human
operator and the humanoid robot at the configuration space level. We validate
our approach by demonstrating whole-body retargeting with multiple robot
models. Furthermore, we present experimental validation through teleoperation
experiments using two state-of-the-art whole-body controllers for humanoid
robots.
