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When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
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…
Teleoperated robots are playing an increasingly important role in military actions and medical services. In the future, remotely operated surgical robots will likely be used in more scenarios such as battlefields and emergency response. But…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
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…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…