相关论文: IMMERTWIN: A Mixed Reality Framework for Enhanced …
This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot manipulator with five…
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…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft…
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…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
This study developed an encrypted four-channel bilateral control system that enables posture synchronization and force feedback for leader and follower robot arms. The encrypted bilateral control system communicates encrypted signals and…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Current wildfire management systems lack integrated virtual environments that combine historical data with immersive digital representations, hindering deep analysis and effective decision making. This paper introduces FIRETWIN, a…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
Remote medical response systems are increasingly being deployed to support emergency care in disaster-affected and infrastructure-limited environments. Enabled by GeoVision capabilities, this paper presents a Digital Twin architecture for…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…