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Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…
In this paper we present a framework for the teleoperation of pick-and-place tasks. We define a shared control policy that allows to blend between direct user control and autonomous control based on user intent inference. One of the main…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Shared control in teleoperation leverages both human and robot's strengths and has demonstrated great advantages of reducing the difficulties in teleoperating a robot and increasing the task performance. One fundamental question in shared…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, easing the cognitive load of…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…