Related papers: Passive Control Architecture for Virtual Humans

In this letter, we propose a control framework for human-in-the-loop systems, in which many human decision makers are involved in the feedback loop composed of a plant and a controller. The novelty of the framework is that the decision…

Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…

We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

Projection-based Controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we…

Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…

Anticipating the motion of all humans in dynamic environments such as homes and offices is critical to enable safe and effective robot navigation. Such spaces remain challenging as humans do not follow strict rules of motion and there are…

Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…

Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

The most basic scenario of quantum control involves the organized manipulation of pure dynamical states of the system by means of unitary transformations. Recently, Vilela Mendes and Mank'o have shown that the conditions for controllability…

In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Prior works in human-swarm interaction (HSI) have sought to guide swarm behavior towards established objectives, but may be unable to handle specific scenarios that require finer human supervision, variable autonomy, or application to…

This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…

The goal of visual analytics is to create a symbiosis between human and computer by leveraging their unique strengths. While this model has demonstrated immense success, we are yet to realize the full potential of such a human-computer…

In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

This paper provides a systematic review of emerging control techniques used for railway Virtual Coupling (VC) studies. Train motion models are first reviewed, including model formulations and the force elements involved. Control objectives…