Related papers: Assistive Robot Teleoperation Using Behavior Trees
Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
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…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
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,…
As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Socially assistive robots are increasingly being used to support the social, cognitive, and physical well-being of those who provide care (healthcare professionals) and those in need of care (older adults). However, the effectiveness of…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…