Related papers: Robust Robot-assisted Tele-grasping Through Intent…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Shared control in teleoperation leverages both human and robot's strengths and has demonstrated great advantages of reducing the difficulties in teleoperating a robot and increasing the task performance. One fundamental question in shared…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
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,…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…