Related papers: HACTS: a Human-As-Copilot Teleoperation System for…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…
Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
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…
Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
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…
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.…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…