Related papers: Fine Manipulation and Dynamic Interaction in Hapti…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Industrial automation is at a pivotal moment, as Physical AI is driving a transition from rigid, hand-engineered automation systems toward more flexible and adaptive systems. This shift has created a growing demand for large-scale,…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…