Related papers: Human-Supervised Semi-Autonomous Mobile Manipulato…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
The thrust for increased rating capacity of wind turbines has resulted into larger generators, longer blades, and taller towers. Presently, up to 16 MW wind turbines are being offered by wind turbines manufacturers which is nearly a 60…
Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework training mobile manipulation policies from human mobile…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
Caregivers in eldercare can benefit from telepresence robots that allow them to perform a variety of tasks remotely. In order for such robots to be operated effectively and efficiently by non-technical users, it is important to examine if…
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 fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as Hierarchical Task Model Predictive Control (HTMPC) enable…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…