Related papers: Haptic Teleoperation goes Wireless: Evaluation and…
Haptic teleoperation is typically realized through wired networking technologies (e.g., Ethernet) which guarantee performance of control loops closed over the communication medium, particularly in terms of latency, jitter, and reliability.…
High-performance real-time wireless connectivity is at the heart of the Industrial Internet-of-Things (IIoT). Realizing wireless closed-loop control is crucial for various mission-critical IIoT systems. Existing wireless technologies fall…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
This paper introduces a wireless communication protocol for industrial control systems that uses channel quality awareness to dynamically create network-device cooperation and assist the nodes in momentary poor channel conditions. To that…
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…
With emerging trends in the fifth generation and robotics, the Internet of Skills will enable us to deliver skills or expertise anywhere over the Internet. In this paper, we propose a wireless connected virtual reality and haptic…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
Handoff has become an inevitable part of wireless cellular communication, Soon users will carry small portable handheld devices which will incorporate the computer, phone, camera, GPS, personal control module etc. This paper proposes a new…
In future autonomous systems, wireless multi-hop communication is key to enable collaboration among distributed agents at low cost and high flexibility. When many agents need to transmit information over the same wireless network,…
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…
TCP is designed for networks with assumption that major losses occur only due to congestion of network traffic. On a wireless network TCP misinterprets the transmission losses due to bit errors and handoffs as losses caused by congestion,…
Teleoperation offers a promising solution for enabling hands-on learning in remote education, particularly in environments requiring interaction with real-world equipment. However, such remote experiences can be costly or non-intuitive. To…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
As the domain of cyber-physical systems continues to grow, an increasing number of tightly-coupled distributed applications will be implemented on top of wireless networking technologies. Some of these applications, including collaborative…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
The traditional TCP congestion control mechanism encounters a number of new problems and suffers a poor performance when the IEEE 802.11 MAC protocol is used in multihop ad hoc networks. Many of the problems result from medium contention at…