Related papers: Prescient teleoperation of humanoid robots
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…
Diagnostic medical ultrasound is widely used, safe, and relatively low cost but requires a high degree of expertise to acquire and interpret the images. Personnel with this expertise are often not available outside of larger cities, leading…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays. As one of the best alternatives to human-level intelligence, Reinforcement Learning (RL) may offer a solution to cope…
Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control problem and requires the…
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…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically…
Teleoperation is an important technology to enable supervisors to control agricultural robots remotely. However, environmental factors in dense crop rows and limitations in network infrastructure hinder the reliability of data streamed to…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a…
The advancement of embodied AI has unlocked significant potential for intelligent humanoid robots. However, progress in both Vision-Language-Action (VLA) models and world models is severely hampered by the scarcity of large-scale, diverse…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…