相关论文: Intuitive Telemanipulation of Hyper-Redundant Snak…

Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…

Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…

Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…

Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…

We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…

Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…

Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…

Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design…

[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…

Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…

Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…

Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…