Related papers: Cyber-Secure Teleoperation With Encrypted Four-Cha…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
A network of chaotic systems can be designed in such a way that the cluster patterns formed by synchronous nodes can be controlled through the coupling parameters. We present a novel approach to exploit such a network for covert…
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone…
We consider the secure communication problem for broadcasting of two encrypted sources. The sender wishes to broadcast two secret messages via two common key cryptosystems. We assume that the adversary can use the side-channel, where the…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Underwater robotic manipulation remains challenging because lighting variation, color attenuation, scattering, and reduced visibility can severely degrade visuomotor policies. We present Bi-AQUA, the first underwater bilateral control-based…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
The secure transmission of the simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) aided communication system is investigated. Considering the coupled phase shifts of STAR-RISs and the fair secrecy…
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,…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…
We present IMMERTWIN, a mixed reality framework for enhance robotic arm teleoperation using a closed-loop digital twin as a bridge for interaction between the user and the robotic system. We evaluated IMMERTWIN by performing a medium-scale…
A connection between the theory of neural networks and cryptography is presented. A new phenomenon, namely synchronization of neural networks is leading to a new method of exchange of secret messages. Numerical simulations show that two…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
We present a key-exchange protocol that comprises two parties with chaotic dynamics that are mutually coupled and undergo a synchronization process, at the end of which they can use their identical dynamical state as an encryption key. The…
In this paper we propose a feedback scheme for transmitting secret messages between two legitimate parties, over an eavesdropped communication link. Relative to Wyner's traditional encoding scheme \cite{wyner1}, our feedback-based encoding…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…