Related papers: Robust and Dexterous Dual-arm Tele-Cooperation usi…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This study developed an encrypted four-channel bilateral control system that enables posture synchronization and force feedback for leader and follower robot arms. The encrypted bilateral control system communicates encrypted signals and…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…
Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
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.…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Multi-robot systems face challenges in reducing human interventions as they are often deployed in dangerous environments. It is therefore necessary to include a methodology to assess robot failure rates to reduce the requirement for costly…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…