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Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
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…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…
In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage…
As aging societies grow, researchers are actively studying care systems concerning the life and diseases of the elderly. Among these diseases, dementia makes it difficult to maintain daily life due to the degradation of cognitive…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…
To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this approach, a novice takes the role of a cognitive robot…
Audio-visual embodied navigation aims to enable an agent to autonomously localize and reach a sound source in unseen 3D environments by leveraging auditory cues. The key challenge of this task lies in effectively modeling the interaction…
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…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…
Telework "avatar work," in which people with disabilities can engage in physical work such as customer service, is being implemented in society. In order to enable avatar work in a variety of occupations, we propose a mobile sales system…
AI Agents powered by Large Language Models are transforming the world through enormous applications. A super agent has the potential to fulfill diverse user needs, such as summarization, coding, and research, by accurately understanding…
Abruptions to the communication infrastructure happens occasionally, where manual dedicated personnel will go out to fix the interruptions, restoring communication abilities. However, sometimes this can be dangerous to the personnel…
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…
Aiming to support a cross-sector and cross-border eGovernance paradigm for sharing common public services, this paper introduces an AI-enhanced solution that enables beneficiaries to participate in a decenntralized network for effective big…