Related papers: Cutting the Cord: System Architecture for Low-Cost…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
The rapid growth of large language model (LLM) deployments has made cost-efficient serving systems essential. Recent efforts to enhance system cost-efficiency adopt two main perspectives: (i) An algorithmic perspective that exploits…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
We describe a flexible, simple to build, low-cost, and computer-controlled optical mirror actuator system we developed for undergraduate research laboratories. Geared motors for hobby robotics are controlled by an Arduino microcontroller…
Modern autonomous applications are increasingly utilizing multiple heterogeneous processors (XPUs) to accelerate different stages of algorithm modules. However, existing runtime systems for these applications, such as ROS, can only perform…
We present the GRASPion, a compact, open-source bristlebot designed for the controlled study of active matter systems. Built around a low-cost Arduino-compatible board and modular 3D-printed components, the GRASPion combines ease of use,…
This paper presents a teleoperation system for controlling a redundant degree of freedom robot manipulator using human arm gestures. We propose a GRU-based Variational Autoencoder to learn a latent representation of the manipulator's…
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Expensive specialized systems have hampered development of telerobotic systems for manufacturing systems. In this paper we demonstrate a telerobotic system which can reduce the cost of such system by leveraging commercial virtual…
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates coarser representations. Multiple reconstruction methods…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration.…
Scaling up robotic imitation learning for real-world applications requires efficient and scalable demonstration collection methods. While teleoperation is effective, it depends on costly and inflexible robot platforms. In-the-wild…
Currently, individuals with arm mobility impairments (referred to as "patients") face limited technological solutions due to two key challenges: (1) non-invasive prosthetic devices are often prohibitively expensive and costly to maintain,…
Autonomous driving is of great interest in both research and industry. The high cost has been one of the major roadblocks that slow down the development and adoption of autonomous driving in practice. This paper, for the first-time, shows…
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials…