Related papers: Self-Adapting Variable Impedance Actuator Control …
Users of assistive devices vary in their extent of motor impairment, and hence their physical interaction with control interfaces can differ. There is the potential for improved utility if control interface actuation is mapped to assistive…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Series Elastic Actuation (SEA) has become prevalent in applications involving physical human-robot interaction as it provides considerable advantages over traditional stiff actuators in terms of stability robustness and fidelity of force…
Recently, Adaptive Secondary Mirrors showed excellent on-sky results in the Near Infrared wavelengths. They currently provide 30mm inter-actuator spacing and about 1 kHz bandwidth. Pushing these devices to be operated at visible wavelengths…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
We propose that automatically adjusting the scale factor in rate-control teleoperation could enable a human operator to better control the motion of a remote robot. In this paper, we present four new variable-scaling rate-control methods…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
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…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
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…
Shared control can ease and enhance a human operator's ability to teleoperate robots, particularly for intricate tasks demanding fine control over multiple degrees of freedom. However, the arbitration process dictating how much autonomous…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
We present OmniVIC, a universal variable impedance controller (VIC) enhanced by a vision language model (VLM), which improves safety and adaptation in any contact-rich robotic manipulation task to enhance safe physical interaction.…