相关论文: Semi-Automatic Control of Telepresence Robots
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…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
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,…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
We build a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand. The robot observes the human operator via a single RGB camera and imitates their actions in real-time. Human…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
The use of semi-autonomous and autonomous robotic assistants to aid in care of the elderly is expected to ease the burden on human caretakers, with small-stage testing already occurring in a variety of countries. Yet, it is likely that…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…