Related papers: Bimanual Telemanipulation with Force and Haptic Fe…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…
This paper presents a teleoperation system for controlling a redundant degree of freedom robot manipulator using human arm gestures. We propose a GRU-based Variational Autoencoder to learn a latent representation of the manipulator's…
Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (both wheeled and legged robots with various types of hands…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…