ROS2 Treadmill-Driven Robot Teleoperation Prototype

This prototype explores how treadmill-style locomotion intent can become a practical interface for robot teleoperation. The current work is software-first, with simulation used to validate the control and observability pipeline before hardware integration.

Traditional teleoperation often separates human intent from embodied motion. I wanted to explore whether locomotion itself could act as the control signal.

The project sits at the intersection of human-in-the-loop robotics, real-time command mapping, and experimentation tooling.

Designed a ROS2 pipeline that maps locomotion-style input signals to motion commands in simulation.

Added telemetry logging and trajectory visualization to inspect how user intent propagates through the control stack.

Structured the project for future hardware integration rather than treating simulation as a dead-end prototype.

ROS2, Python, Telemetry Logging, Trajectory Visualization, Simulation

I chose a software-first workflow so I could iterate quickly on command semantics, observability, and interface design before dealing with hardware constraints.

Logging and visualization were included early because understanding system behavior is just as important as generating motion commands.

The prototype establishes a baseline for testing human locomotion as a teleoperation modality.

It also creates a platform for future work in embodied interfaces, robot control, and experiment evaluation.

Integrate physical treadmill or locomotion input hardware.

Expand evaluation around latency, controllability, and user adaptation.