Related papers: Human Preferences and Robot Constraints Aware Shar…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
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…
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,…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…
This paper presents a teleoperation system for controlling a redundant degree of freedom robot manipulator using human arm gestures. We propose a GRU-based Variational Autoencoder to learn a latent representation of the manipulator's…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
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…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
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.…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…