相关论文: Demo: Untethered Haptic Teleoperation for Nuclear …
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…
One of the motivations for the development of wirelessly guided untethered magnetic devices (UMDs), such as microrobots and nanorobots, is the continuous demand to manipulate, sort, and assemble micro-objects with high level of accuracy and…
The CyberGrasp is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and…
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Handoff has become an inevitable part of wireless cellular communication, Soon users will carry small portable handheld devices which will incorporate the computer, phone, camera, GPS, personal control module etc. This paper proposes a new…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
In this paper, we introduce a network-decomposed hierarchical cooperation (HC) protocol and completely characterize the corresponding throughput--delay trade-off for a large wireless ad hoc network formed in the context of social…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
Internet-of-things (IoT) architectures connecting a massive number of heterogeneous devices need energy efficient, low hardware complexity, low cost, simple and secure mechanisms to realize communication among devices. One of the emerging…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
Bluetooth is a short-range wireless technology that provides audio and data links between personal smartphones and playback devices, such as speakers, headsets and car entertainment systems. Since its introduction in 2001, security…
Real-time applications require latencies on the order of a millisecond with very high reliabilities, paralleling the requirements for high-performance industrial control. Current wireless technologies like WiFi, Bluetooth, LTE, etc. are…
We present TiPToP, an extensible modular system that combines pretrained vision foundation models with an existing Task and Motion Planner (TAMP) to solve multi-step manipulation tasks directly from input RGB images and natural-language…
Temporal Key Integrity Protocol (TKIP) is a provisional solution for Wired Equivalent Privacy (WEP) security loopholes present in already widely deployed legacy 802.11 wireless devices. In this work, we model and analyse the computational…
Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…
Frequent power failures can introduce significant packet losses during communication among energy harvesting batteryless wireless sensors. Nodes should be aware of the energy level of their neighbors to guarantee the success of…
Recent advances in non-radiative wireless power transfer (WPT) technique essentially relying on magnetic resonance and near-field coupling have successfully enabled a wide range of applications. However, WPT systems based on double…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…