相关论文: Wireless teleoperation of HSURF artificial fish in…
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
Robotic fish is one of the most promising directions of the new generation of underwater vehicles. Traditional biomimetic fish often mimic fish joints using tandem components like servos, which leads to increased volume, weight and control…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
This investigation presents novel adaptive control algorithms specifically designed to address and mitigate thermoacoustic instabilities. Two control strategies are available to alleviate this issue: active and passive. Active control…
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole…
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators,…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Unmanned Aerial Vehicle (UAV) aided wireless networks have been recently envisioned as a solution to provide a reliable, low latency cellular link for search and rescue operations over the sea. We propose three different network…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
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…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
In this paper, we explore the use of motion for robot-to-human communication on three robotic platforms: the 5 degrees-of-freedom (DOF) Aqua autonomous underwater vehicle (AUV), a 3-DOF camera gimbal mounted on a Matrice 100 drone, and a…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Aquaculture robotics is receiving increased attention and is subject to unique challenges and opportunities for research and development. Guidance, navigation and control are all important aspects for realizing aquaculture robotics…