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Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
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…
Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to…
We introduce VR-Doh, an open-source, hands-on 3D modeling system that enables intuitive creation and manipulation of elastoplastic objects in Virtual Reality (VR). By customizing the Material Point Method (MPM) for real-time simulation of…
Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do safely. The main limitation is the physiological hand tremor…
Vehicles with autonomous driving capabilities are present on public streets. However, edge cases remain that still require a human in-vehicle driver. Assuming the vehicle manages to come to a safe state in an automated fashion, teleoperated…
Robotic surgery has reached a high level of maturity and has become an integral part of standard surgical care. However, existing surgeon consoles are bulky, take up valuable space in the operating room, make surgical team coordination…
Mode-switching supports multilevel operations using a limited number of input methods. In Virtual Reality (VR) head-mounted displays (HMD), common approaches for mode-switching use buttons, controllers, and users' hands. However, they are…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered…
The application of Virtual Reality Environments (VRE) has been gaining momentum as a relatively new tool to assist with mitigating various difficulties including abstractness of concepts, lack of user engagement, perception of disconnection…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…
This paper introduces the TactiMesh Teleoperator Interface (TTI), a novel predictive visual and haptic system designed explicitly for human-in-the-loop robot control using a head-mounted display (HMD). By employing simultaneous localization…