相关论文: A Distributed Software Architecture for Collaborat…

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…

We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…

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…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…

Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…

In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…

Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…

Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…

Given its increasing popularity in recent years, teleoperation technology is now recognized as a robust fallback solution for Automated Driving (AD). Remote Assistance (RA) represents an event-driven class of teleoperation with a distinct…

Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…

Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…

Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…

Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…

We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…

Augmented Reality (AR) systems describe the class of systems that use computers to overlay virtual information on the real world. AR environments allow the development of promising tools in several application domains. In medical training…

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…

Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…

This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…