Related papers: Long range teleoperation for fine manipulation tas…
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,…
Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered…
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…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…