Related papers: Visual-Inertial Telepresence for Aerial Manipulati…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual information from the remote area is using cameras to transmit a…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
In this paper, a method of rendering aerial haptics that uses an aerodynamic vortex and focused ultrasound is presented. Significant research has been conducted on haptic applications based on multiple phenomena such as magnetic and…
Gesture recognition presents a promising avenue for interfacing with unmanned aerial vehicles (UAVs) due to its intuitive nature and potential for precise interaction. This research conducts a comprehensive comparative analysis of…
This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Extended Reality (XR) provides a more intuitive interaction method for teleoperating robots compared to traditional 2D controls. Recent studies have laid the groundwork for usable teleoperation with XR, but it fails in tasks requiring rapid…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
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…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…