相关论文: Towards an immersive user interface for waypoint n…

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

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.…

Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…

Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…

Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…

Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions…

This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…

This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…

Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…

Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

The animation of user avatars plays a crucial role in conveying their pose, gestures, and relative distances to virtual objects or other users. Self-avatar animation in immersive VR helps improve the user experience and provides a Sense of…

This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived…