相关论文: iRoCo: Intuitive Robot Control From Anywhere Using…

This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…

In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…

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…

This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…

Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…

Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

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 report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As…

This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…

Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…