Related papers: HARMONI: Haptic-Guided Assistance for Unified Robo…
The Human-Autonomy Teaming paradigm (HAT) has recently emerged to model and design hybrid teams, where a human operator must cooperate with an artificial agent, able to independently evolve in dynamic and uncertain situations. An important…
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously…
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively controlling a mobile robot. Our Hierarchical Expert-guided…
Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
This paper presents RoboMatch, a novel unified teleoperation platform for mobile manipulation with an auto-matching network architecture, designed to tackle long-horizon tasks in dynamic environments. Our system enhances teleoperation…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
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…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports…
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…