相关论文: Goal Estimation-based Adaptive Shared Control for …

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…

In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…

Magnetically actuated robots provide a promising untethered platform for navigation in confined environments, enabling biological studies and targeted micro-delivery. However, dexterous manipulation in complex structures remains…

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;…

This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…

Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…

Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…

Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…

Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…

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…

The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…

In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…

Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

In this project, and through an understanding of neuronal system communication, A novel model serves as an assistive technology for locked-in people suffering from Motor neuronal disease (MND) is proposed. Work was done upon the potential…