相关论文: Smoother Position-Drift Compensation for Time Doma…
In this paper, we focus on the localization of a passive source from time difference of arrival (TDOA) measurements. TDOA values are computed with respect to pairs of fixed sensors that are required to be accurately time-synchronized. This…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
The generalized cross correlation (GCC) is regarded as the most popular approach for estimating the time difference of arrival (TDOA) between the signals received at two sensors. Time delay estimates are obtained by maximizing the GCC…
Stochastic communication delays in teleoperation introduce signal discontinuities that undermine control stability and degrade control performance. Consequently, the conventional reinforcement learning (RL) methods struggle with the delayed…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by delays, both the user input and the transmission delays…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
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…
Positioning with one single communication between base stations and user devices can effectively save air time and thus expand the user volume to infinite. However, this usually demands accurate synchronization between base stations.…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
Time Difference of Arrival (TDOA) is widely used in wireless localization systems. Among the enormous approaches of TDOA, high resolution TDOA algorithms have drawn much attention for its ability to resolve closely spaced signal delays in…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Packet transmission scheduling on multi-hop wireless sensor networks with 3-egress gateway linear topology is studied. Each node generates a data packet in every one cycle period and forwards it bounded for either of gateways at edges. We…