Related papers: Low-Cost Teleoperation Extension for Mobile Manipu…
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…
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)…
In this work we extend the low-cost GELLO teleoperation system, initially designed for joint position control, with additional force information. Our first extension is to implement force feedback, allowing users to feel resistance when…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
Robot teleoperation has been studied for the past 70 years and is relevant in many contexts, such as in the handling of hazardous materials and telesurgery. The COVID19 pandemic has rekindled interest in this topic, but the existing robotic…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We introduce a novel single-camera teleoperation system to collect…
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.…
This paper presents an AI-driven IoT robotic teleoperation system designed for real-time remote manipulation and intelligent visual monitoring, tailored for smart city applications. The architecture integrates a Flutter-based cross-platform…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Imitation Learning (IL) is a powerful paradigm to teach robots to perform manipulation tasks by allowing them to learn from human demonstrations collected via teleoperation, but has mostly been limited to single-arm manipulation. However,…
Teleoperation allows a human operator to remotely interact with and control a mobile robot in a dangerous or inaccessible area. Besides well-known applications such as space exploration or search and rescue operations, the application of…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…
This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of…
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances,…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…
The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a…