Related papers: Puppeteer Your Robot: Augmented Reality Leader-Fol…
The integration of robotics and augmented reality (AR) presents transformative opportunities for advancing human-robot interaction (HRI) by improving usability, intuitiveness, and accessibility. This work introduces a controller-free,…
Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its…
Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
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…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…
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…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Most existing 6-DoF robot grasping solutions depend on strong supervision on grasp pose to ensure satisfactory performance, which could be laborious and impractical when the robot works in some restricted area. To this end, we propose a…
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…
Interactive reinforcement learning, where humans actively assist during an agent's learning process, has the promise to alleviate the sample complexity challenges of practical algorithms. However, the inner workings and state of the robot…