Related papers: A Perception-Driven Approach To Immersive Remote T…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
In this paper, we describe the development and operating principles of an immersive virtual reality (VR) visualisation environment that is designed around the use of consumer VR headsets in an existing wide area motion capture suite. We…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
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…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…
Effective visual accessibility in Virtual Reality (VR) is crucial for Blind and Low Vision (BLV) users. However, designing visual accessibility systems is challenging due to the complexity of 3D VR environments and the need for techniques…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperforming traditional methods reliant on 2D camera feeds and…
Classically, rasterization techniques are performed for real-time rendering to meet the constraint of interactive frame rates. However, such techniques do not produce realistic results as compared to ray tracing approaches. Hence, hybrid…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
Telepresence VR systems allow for face-to-face communication, promoting the feeling of presence and understanding of nonverbal cues. However, when discussing virtual 3D objects, limitations to presence and communication cause deictic…
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to…
Vision-based Interfaces (VIs) are pivotal in advancing Human-Computer Interaction (HCI), particularly in enhancing context awareness. However, there are significant opportunities for these interfaces due to rapid advancements in multimodal…
The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual information from the remote area is using cameras to transmit a…
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,…
Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade…
Rapid advances in technology gradually realize immersive mixed-reality (MR) telepresence between distant spaces. This paper presents a novel visual guidance system for avatar-mediated telepresence, directing users to optimal placements that…
VR Facial Animation is necessary in applications requiring clear view of the face, even though a VR headset is worn. In our case, we aim to animate the face of an operator who is controlling our robotic avatar system. We propose a real-time…