Related papers: Shared Telemanipulation with VR controllers in an …
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously…
Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…
For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
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…
Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…
Virtual reality (VR) is an emerging technology of great societal potential. Some of its most exciting and promising use cases include remote scene content and untethered lifelike navigation. This article first highlights the relevance of…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…