{"id":"https://openalex.org/W4415524391","doi":"https://doi.org/10.1109/humanoids65713.2025.11203105","title":"The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation","display_name":"The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524391","doi":"https://doi.org/10.1109/humanoids65713.2025.11203105"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120126703","display_name":"Sophia Bianchi Moyen","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sophia Bianchi Moyen","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099023398","display_name":"Rickmer Krohn","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rickmer Krohn","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113015452","display_name":"Sophie Lueth","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sophie Lueth","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kay Pompetzki","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kay Pompetzki","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024771523","display_name":"Vignesh Prasad","orcid":"https://orcid.org/0000-0002-9729-2454"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vignesh Prasad","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georgia Chalvatzaki","raw_affiliation_strings":["TU Darmstadt,Computer Science Department,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Computer Science Department,Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"585","last_page":"592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9391999840736389,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.9039000272750854,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8762999773025513},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5080999732017517},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5047000050544739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.454800009727478},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.45089998841285706},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.43950000405311584},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.37540000677108765},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.36570000648498535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36340001225471497}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8762999773025513},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.715499997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010000109672546},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5080999732017517},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.454800009727478},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.45089998841285706},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.43950000405311584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4115999937057495},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36340001225471497},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.36090001463890076},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.329800009727478},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.3138999938964844},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C61641136","wikidata":"https://www.wikidata.org/wiki/Q1107019","display_name":"Cognitive load","level":3,"score":0.2962999939918518},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28220000863075256},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28130000829696655},{"id":"https://openalex.org/C172367668","wikidata":"https://www.wikidata.org/wiki/Q6504956","display_name":"Data visualization","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27309998869895935},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2671000063419342},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2106138322","display_name":null,"funder_award_id":"2676/1-1","funder_id":"https://openalex.org/F4320308022","funder_display_name":"California Department of Fish and Game"},{"id":"https://openalex.org/G3971579576","display_name":null,"funder_award_id":"101135959","funder_id":"https://openalex.org/F4320316317","funder_display_name":"Xi'an Eurasia University"},{"id":"https://openalex.org/G7876281543","display_name":null,"funder_award_id":"16ME1001","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320308022","display_name":"California Department of Fish and Game","ror":"https://ror.org/02v6w2r95"},{"id":"https://openalex.org/F4320316317","display_name":"Xi'an Eurasia University","ror":null},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1574286258","https://openalex.org/W1895161748","https://openalex.org/W1964649988","https://openalex.org/W2072133687","https://openalex.org/W2157289187","https://openalex.org/W2164032318","https://openalex.org/W2175083043","https://openalex.org/W2554423287","https://openalex.org/W2906487027","https://openalex.org/W2952469820","https://openalex.org/W3087853581","https://openalex.org/W3160773357","https://openalex.org/W3163266815","https://openalex.org/W3207488890","https://openalex.org/W4224939663","https://openalex.org/W4226140731","https://openalex.org/W4283311522","https://openalex.org/W4296299143","https://openalex.org/W4361267553","https://openalex.org/W4383220103","https://openalex.org/W4384159599","https://openalex.org/W4385430674","https://openalex.org/W4387375948","https://openalex.org/W4388500111","https://openalex.org/W4389142961","https://openalex.org/W4390577827","https://openalex.org/W4391306856","https://openalex.org/W4391323745","https://openalex.org/W4401415287","https://openalex.org/W4403337227","https://openalex.org/W4403918679","https://openalex.org/W4403918823","https://openalex.org/W4405786155"],"related_works":[],"abstract_inverted_index":{"Intuitive":[0],"Teleoperation":[1],"interfaces":[2,190],"are":[3],"essential":[4],"for":[5,54],"mobile":[6,57,198],"manipulation":[7,58,76,153,199],"robots":[8],"to":[9,157,179],"ensure":[10],"high":[11],"quality":[12,46],"data":[13,39,45,173,200],"collection":[14],"while":[15,168],"reducing":[16],"operator":[17,206],"workload.":[18],"A":[19],"strong":[20],"sense":[21],"of":[22,106,110,134,149],"embodiment":[23,73,84],"combined":[24],"with":[25,203],"minimal":[26],"physical":[27],"and":[28,77,81,102,126,146,154],"cognitive":[29,144],"demands":[30],"not":[31],"only":[32],"enhances":[33],"the":[34,107,132,150,162,166,204],"user":[35,163],"experience":[36],"during":[37],"largescale":[38],"collection,":[40],"but":[41],"also":[42],"helps":[43],"maintain":[44],"over":[47],"extended":[48],"periods.":[49],"This":[50],"becomes":[51],"especially":[52],"crucial":[53],"challenging":[55],"long-horizon":[56],"tasks":[59],"that":[60,131,172],"require":[61],"whole-body":[62],"coordination.":[63],"We":[64],"compare":[65],"two":[66,95],"distinct":[67],"robot":[68],"control":[69,90],"paradigms:":[70],"a":[71,82,118,137,158],"coupled":[72,176],"integrating":[74],"arm":[75],"base":[78],"navigation":[79,155],"functions,":[80],"decoupled":[83],"treating":[85],"these":[86],"systems":[87],"as":[88,136,164],"separate":[89],"entities.":[91],"Additionally,":[92],"we":[93],"evaluate":[94],"visual":[96],"feedback":[97,138],"mechanisms:":[98],"immersive":[99],"virtual":[100],"reality":[101],"conventional":[103],"screen-based":[104],"visualization":[105],"robot's":[108],"field":[109],"view.":[111],"These":[112],"configurations":[113],"were":[114],"systematically":[115],"assessed":[116],"across":[117],"complex,":[119],"multi-stage":[120],"task":[121,141],"sequence":[122],"requiring":[123],"integrated":[124],"planning":[125],"execution.":[127],"Our":[128,184],"results":[129],"show":[130],"use":[133],"VR":[135],"modality":[139],"increases":[140],"completion":[142],"time,":[143],"workload,":[145],"perceived":[147],"effort":[148],"teleoperator.":[151],"Coupling":[152],"leads":[156,178],"comparable":[159],"workload":[160],"on":[161,187],"decoupling":[165],"embodiments,":[167],"preliminary":[169],"experiments":[170],"suggest":[171],"acquired":[174],"by":[175],"teleoperation":[177,189],"better":[180],"imitation":[181],"learning":[182],"performance.":[183],"holistic":[185],"view":[186],"intuitive":[188],"provides":[191],"valuable":[192],"insight":[193],"into":[194],"collecting":[195],"high-quality,":[196],"high-dimensional":[197],"at":[201],"scale":[202],"human":[205],"in":[207],"mind.":[208]},"counts_by_year":[],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-24T00:00:00"}