Related papers: Bimanual Telemanipulation with Force and Haptic Fe…
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
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…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic approach to meet the ANA Avatar XPRIZE Final testing task requirements. The system features a dual-arm configuration with hydraulically actuated…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…
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…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested…