Related papers: Force-Sensor-Less Bilateral Teleoperation Control …
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…
Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
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;…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to…
Reinforcement learning is an emerging approach to control dynamical systems for which classical approaches are difficult to apply. However, trained agents may not generalize against the variations of system parameters. This paper presents…
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…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
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…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
Modeling human operator's dynamic plays a very important role in the manual closed-loop control system, and it is an active research area for several decades. Based on the characteristics of human brain and behaviour, a new kind of…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…