Related papers: Input-gated Bilateral Teleoperation: An Easy-to-im…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…
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…
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.…
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…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
In bilateral teleoperation, the human who operates the master and the environment which interacts with the slave are part of the force feedback loop. Yet, both have time-varying and unpredictable dynamics and are challenging to model. A…
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…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
This study developed an encrypted four-channel bilateral control system that enables posture synchronization and force feedback for leader and follower robot arms. The encrypted bilateral control system communicates encrypted signals and…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
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…
Demonstration data plays a key role in learning complex behaviors and training robotic foundation models. While effective control interfaces exist for static manipulators, data collection remains cumbersome and time intensive for mobile…
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested…
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,…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems…
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic arm, and a Robotiq gripper equipped with custom-designed…