Related papers: Efficient and Reliable Teleoperation through Real-…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
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…
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
In robots task and motion planning (TAMP), it is crucial to sample within the robot's configuration space to meet task-level global constraints and enhance the efficiency of subsequent motion planning. Due to the complexity of joint…
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…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
Teleoperation is an important technology to enable supervisors to control agricultural robots remotely. However, environmental factors in dense crop rows and limitations in network infrastructure hinder the reliability of data streamed to…
Many engineering applications rely on the evaluation of expensive, non-linear high-dimensional functions. In this paper, we propose the RONAALP algorithm (Reduced Order Nonlinear Approximation with Active Learning Procedure) to…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays. As one of the best alternatives to human-level intelligence, Reinforcement Learning (RL) may offer a solution to cope…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
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…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…