相关论文: Teleoperation System Using Past Image Records Cons…
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…
The training of modern speech processing systems often requires a large amount of simulated room impulse response (RIR) data in order to allow the systems to generalize well in real-world, reverberant environments. However, simulating…
We report results of a recently-completed pre-Formulation Phase study of SPIRIT, a candidate NASA Origins Probe mission. SPIRIT is a spatial and spectral interferometer with an operating wavelength range 25 - 400 microns. SPIRIT will…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…
This study considers a base station equipped with sensing and communication capabilities, which serves a ground user and scans a portion of the sky via a passive reconfigurable intelligent surface. To achieve more favorable system…
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…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
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…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
Humanoid teleoperation plays a vital role in demonstrating and collecting data for complex humanoid-scene interactions. However, current teleoperation systems face critical limitations: they decouple upper- and lower-body control to…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…