相关论文: Stability and Transparency in Mixed Reality Bilate…
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
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…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
With emerging trends in the fifth generation and robotics, the Internet of Skills will enable us to deliver skills or expertise anywhere over the Internet. In this paper, we propose a wireless connected virtual reality and haptic…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
The high request for autonomous and flexible HRI implies the necessity of deploying Machine Learning (ML) mechanisms in the robot control. Indeed, the use of ML techniques, such as Reinforcement Learning (RL), makes the robot behaviour,…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…
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…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar…
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…
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 this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…