相关论文: Stability and Transparency in Mixed Reality Bilate…

Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…

This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…

Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…

Time delays in communication channels present significant challenges for bilateral teleoperation systems, affecting both transparency and stability. Although traditional wave variable-based methods for a four-channel architecture ensure…

Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…

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…

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…

Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…

Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…

Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…

We investigate the network stability problem when two users are scheduled simultaneously. The key idea is to simultaneously transmit to more than one users experiencing different channel conditions by employing hierarchical modulation. For…

With the rising popularity of telerobotic systems, the focus on transparency with regards to haptic perception is also increasing. Transparency, however, represents a theoretical ideal as most bilateral force-reflecting telerobots introduce…