Related papers: Towards Accessible Robot Control: Comparing Kinest…
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,…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
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…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
Human factors and ergonomics are the essential constituents of teleoperation interfaces, which can significantly affect the human operator's performance. Thus, a quantitative evaluation of these elements and the ability to establish…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
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,…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems…