Related papers: Cyber-Secure Teleoperation With Encrypted Four-Cha…
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…
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…
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…
Secure communication is essential in covert and safety-critical settings where verbal interactions may expose user intent or operational context. Wearable gesture-based communication enables low-effort, nonverbal interaction, but existing…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
This work presents the hardware demonstrator of a secure encryption system based on synchronised Chua chaotic circuits. In particular, the presented encryption system comprises two Chua circuits that are synchronised using a dedicated…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
The paper deals with time-scaling transformations of dynamical systems. Such scaling functions operate a change of coordinates on the time axis of the system trajectories preserving its phase portrait. Exploiting this property, a chaos…
This work considers load-balance control among the relays under the secure transmission protocol via relay cooperation in two-hop wireless networks without the information of both eavesdropper channels and locations. The available two-hop…
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the…
Metasurfaces facilitate high-capacity optical information integration by simultaneously supporting near-field nanoprinting and far-field holography on a single platform. However, conventional multi-channel designs face critical security…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
Teleoperated quadruped robots are increasingly deployed in safety-critical missions -- industrial inspection, military reconnaissance, and emergency response -- yet the security of their communication and control infrastructure remains…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Encrypted dynamic controllers that operate for an unlimited time have been a challenging subject of research. The fundamental difficulty is the accumulation of errors and scaling factors in the internal state during operation.…
This study proposes an encrypted visual feedback control algorithm for regulating a one-dimensional stage using Ring Learning With Errors (RLWE) encryption. The proposed algorithm performs both feature extraction and controller computations…