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The next generation of virtual environments for training is oriented towards collaborative aspects. Therefore, we have decided to enhance our platform for virtual training environments, adding collaboration opportunities and integrating…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
We propose a visuo-tactile feedback method that combines virtual hand visualization and fingertip vibrations to modulate affective roughness perception in VR. While prior work has focused on object-based textures and vibrotactile feedback,…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Wearable distributed tactile devices aim to provide multipoint touch stimuli, but struggle to provide sufficient forces (> 1 N) at frequencies to invoke deep pressure sensation with minimal encumbrance at small scales. This work presents a…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
We present ElectroAR, a visual and tactile sharing system for hand skills training. This system comprises a head-mounted display (HMD), two cameras, tactile sensing glove, and electro-stimulation glove. The trainee wears a tactile sensing…
With the growing need to effectively support workforce upskilling in the manufacturing sector, virtual reality is gaining popularity as a scalable training solution. However, most current systems are designed as static, step-by-step…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…
Serious games are accepted as an effective approach to deliver augmented feedback in motor (re-) learning processes. The multi-modal nature of the conventional computer games (e.g. audiovisual representation) plus the ability to interact…
Incorporating accurate physics-based simulation into interactive design tools is challenging. However, adding the physics accurately becomes crucial to several emerging technologies. For example, in virtual/augmented reality (VR/AR) videos,…
Tactile displays have a wide potential field of applications, ranging from enhancing Virtual-Reality scenarios up to aiding telesurgery as well as in fundamental psychological and neurophysiological research. In this paper, we describe an…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…