Towards Universal Shared Control in Teleoperation Without Haptic Feedback

Max Grobbel; Tristan Schneider; Sören Hohmann

Towards Universal Shared Control in Teleoperation Without Haptic Feedback

Robotics 2025-07-08 v2 Systems and Control Systems and Control

Authors: Max Grobbel , Tristan Schneider , Sören Hohmann

Abstract

Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives.

Cite

@article{arxiv.2506.23624,
  title  = {Towards Universal Shared Control in Teleoperation Without Haptic Feedback},
  author = {Max Grobbel and Tristan Schneider and Sören Hohmann},
  journal= {arXiv preprint arXiv:2506.23624},
  year   = {2025}
}

Comments

5 pages, submitted to IEEE Telepresence 2025 conference

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