相关论文: Fast Explicit-Input Assistance for Teleoperation i…

Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…

Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…

As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…

This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…

In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…

Existing research on non-verbal cues, e.g., eye gaze or arm movement, may not accurately present a robot's internal states such as perception results and action intent. Projecting the states directly onto a robot's operating environment has…

The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…

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…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models directly predict the actuator commands from the image…

The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…

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…

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.…

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands,…

This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and human-robot…

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…

In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…