相关论文: User-customizable Shared Control for Robot Teleope…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…

Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…

Due to the influence of the new coronavirus disease (COVID-19), teleworking has been expanding rapidly. Although existing interactive remote working systems are convenient, they do not allow users to adjust their spatial distance to team…

Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…

Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…

Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…

[...] 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…

In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…

Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…

With an increasing interest in human-robot collaboration, there is a need to develop robot behavior while keeping the human user's preferences in mind. Highly skilled human users doing delicate tasks require their robot partners to behave…

Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for…

This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation share control tasks. The main challenge is the adaptive…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…