Related papers: Efficient and Reliable Teleoperation through Real-…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
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,…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
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…
We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
This paper develops a surrogate model refinement approach for the simulation of dynamical systems and the solution of optimization problems governed by dynamical systems in which surrogates replace expensive-to-compute state- and…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
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…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…