Related papers: Shared Telemanipulation with VR controllers in an …
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…
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;…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot 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,…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…