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Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce errors and increase performance under delay is to downscale…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
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…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…