Related papers: Global-Local Interface for On-Demand Teleoperation
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
With emerging trends in the fifth generation and robotics, the Internet of Skills will enable us to deliver skills or expertise anywhere over the Internet. In this paper, we propose a wireless connected virtual reality and haptic…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We introduce a novel single-camera teleoperation system to collect…
Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face robotic hardware dependency and control frequency mismatches…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body controller and web-based teleoperation to enable any device with a web browser to access and control a humanoid robot. By integrating humanoid robots with the…
Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…
The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…
There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
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…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Diagnostic medical ultrasound is widely used, safe, and relatively low cost but requires a high degree of expertise to acquire and interpret the images. Personnel with this expertise are often not available outside of larger cities, leading…
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…