Related papers: Remote telepresence over large distances via robot…
In this paper, we introduce a concept called ''virtual co-embodiment'', which enables a user to share their virtual avatar with another entity (e.g., another user, robot, or autonomous agent). We describe a proof-of-concept in which two…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…
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…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We describe1 two case studies of AvatarStaging theatrical mixed reality framework combining avatars and performers acting in an artistic context. We outline a qualitative approach toward the condition for stage presence for the avatars. We…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that…
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,…
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,…
This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robot's 3D model to…
This paper presents a telepresence interaction framework based on touchscreen and telepresence-robot technologies. The core of the framework is a new user interface, Touchable live video Image based User Interface, called TIUI. The TIUI…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…