Related papers: HARMONI: Haptic-Guided Assistance for Unified Robo…
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 paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
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,…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
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…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…