相关论文: Motion comfort and driver feel: An explorative stu…
The drone industry is diversifying and the number of pilots increases rapidly. In this context, flight schools need adapted tools to train pilots, most importantly with regard to their own awareness of their physiological and cognitive…
In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…
Teleoperation is a popular solution to remotely support highly automated vehicles through a human remote operator whenever a disengagement of the automated driving system is present. The remote operator wirelessly connects to the vehicle…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…
Using virtual reality (VR) head-mounted displays (HMDs) can induce VR sickness. VR sickness can cause strong discomfort, decrease users' presence and enjoyment, especially in games, shorten the duration of the VR experience, and can even…
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.…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
Ensuring that robot navigation is safe and socially acceptable is crucial for comfortable human-robot interaction in shared environments. However, existing validation methods often rely on a bird's-eye (allocentric) perspective, which fails…
Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Remotely operating vehicles utilizes the benefits of vehicle automation when fully automated driving is not yet possible. A human operator ensures safety and availability from afar and supports the vehicle automation when its capabilities…
Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
We propose that automatically adjusting the scale factor in rate-control teleoperation could enable a human operator to better control the motion of a remote robot. In this paper, we present four new variable-scaling rate-control methods…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…
A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…
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.…
The commonly used metrics for motion prediction do not correlate well with a self-driving vehicle's system-level performance. The most common metrics are average displacement error (ADE) and final displacement error (FDE), which omit many…