Related papers: Control the Soft Robot Arm with its Physical Twin
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
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…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
Resource-constrained mobile robots that lack the capability to be completely autonomous can rely on a human or AI supervisor acting at a remote site (e.g., control station or cloud) for their control. Such a supervised autonomy or…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
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…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by efficiency constraints in time and space, and the pipeline…