相关论文: Bimanual Telemanipulation with Force and Haptic Fe…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
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…
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…