Related papers: Cyber-Secure Teleoperation With Encrypted Four-Cha…
This study aims to develop an encrypted motion-copying system using homomorphic encryption for secure motion preservation and reproduction. A novel concept of encrypted motion-copying systems is introduced, realizing the preservation,…
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 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…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. This is expected to significantly improve the operability…
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…
Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective.…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
A secure two-party computation protocol for running dynamic controllers over secret sharing has recently been proposed. Unlike encrypted control schemes based on homomorphic encryption, this protocol enables operating dynamic controllers…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…
This study proposes an encrypted simultaneous control system for an antagonistic pneumatic artificial muscle (PAM) actuator toward developing a cybersecure and flexible actuator. First, a novel simultaneous control system design is…
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framework, the distributed control computation in the edge computer…
In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed…
Resource-constrained mobile robots that lack the capability to be completely autonomous can rely on a human or AI supervisor acting at a remote site (e.g., control station or cloud) for their control. Such a supervised autonomy or…
In this paper, we present a dynamic feedback controller that computes the next state and the control signal over encrypted data using homomorphic properties of cryptosystems, whose performance is equivalent to the linear dynamic controllers…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…