Related papers: Controlling Assistive Robots with Learned Latent A…

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…

Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…

Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. However, these approaches often fail to account for humans'…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

As robots become more common for both able-bodied individuals and those living with a disability, it is increasingly important that lay people be able to drive multi-degree-of-freedom platforms with low-dimensional controllers. One approach…

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…

Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges,…

Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…

To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…

High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…