We present a feasibility-driven teleoperation framework designed to generate
humanoid multi-contact maneuvers for use in unstructured environments. Our
framework is designed for motions with arbitrary contact modes and postures.
The operator configures a pre-execution preview robot through contact points
and kinematic tasks. A fast estimation of the preview robot's quasi-static
feasibility is performed by checking contact stability and collisions along an
interpolated trajectory. A visualization of Center of Mass (CoM) stability
margin, based on friction and actuation constraints, is displayed and can be
previewed if the operator chooses to add or remove contacts. Contact points can
be placed anywhere on a mesh approximation of the robot surface, enabling
motions with knee or forearm contacts. We demonstrate our approach in
simulation and hardware on a NASA Valkyrie humanoid, focusing on multi-contact
trajectories which are challenging to generate autonomously or through
alternative teleoperation approaches