Related papers: Motion Scaling Solutions for Improved Performance …
It is well-known that proper scaling can increase the efficiency of computational problems. In this paper we define and show that a balancing technique can substantially improve the computational efficiency of optimal control algorithms. We…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…
Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…
Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions…
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…