Related papers: Controlling a remotely located Robot using Hand Ge…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (both wheeled and legged robots with various types of hands…
We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach…
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasible hardware, but using these systems requires control…
Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…
We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…