相关论文: Comparing Alternate Modes of Teleoperation for Con…
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…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…
In parallel with the advancement of Automated Driving (AD) functions, teleoperation has grown in popularity over recent years. By enabling remote operation of automated vehicles, teleoperation can be established as a reliable fallback…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
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…
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…
In this letter, we investigate whether classical function allocation-the principle of assigning tasks to either a human or a machine-holds for physical Human-Robot Collaboration, which is important for providing insights for Industry 5.0 to…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
Quantitative characterization of surgical movements can improve the quality of patient care by informing the development of new training protocols for surgeons, and the design and control of surgical robots. Here, we present a novel…
Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have demonstrated remarkable capabilities in complex tasks,…
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…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
We propose that automatically adjusting the scale factor in rate-control teleoperation could enable a human operator to better control the motion of a remote robot. In this paper, we present four new variable-scaling rate-control methods…
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…