相关论文: A Virtual Reality Teleoperation Interface for Indu…
We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We introduce a novel single-camera teleoperation system to collect…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Teleoperation offers a promising solution for enabling hands-on learning in remote education, particularly in environments requiring interaction with real-world equipment. However, such remote experiences can be costly or non-intuitive. To…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
This study evaluates the performance and usability of Mixed Reality (MR), Virtual Reality (VR), and camera stream interfaces for remote error resolution tasks, such as correcting warehouse packaging errors. Specifically, we consider a…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…