Related papers: Bounded haptic teleoperation of a quadruped robot'…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
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…
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…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…