Related papers: A User Study on the Suitability of Teleoperation I…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
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…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
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…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
This paper discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human…
Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests that surgeons with experience in open or laparoscopic surgery…
Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…