相关论文: Teleoperation of Continuum Instruments: Task-Prior…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation due to interface- and dynamics-induced errors. We present…
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on visual observations and robot proprioceptive information…
Assistive teleoperation, where control is shared between a human and a robot, enables efficient and intuitive human-robot collaboration in diverse and unstructured environments. A central challenge in real-world assistive teleoperation is…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
Imitation learning has shown strong potential for automating complex robotic manipulation. In medical robotics, ultrasound-guided needle insertion demands precise bimanual coordination, as clinicians must simultaneously manipulate an…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Task-oriented communication presents a promising approach to improve the communication efficiency of edge inference systems by optimizing learning-based modules to extract and transmit relevant task information. However, real-time…
This paper considers downlink of reconfigurable intelligent surface (RIS) assisted cooperative non-orthogonal multiple access (CNOMA) systems. Our objective is to minimize the total transmit power by jointly optimizing the active…
The next frontier in communications is teleoperation -- manipulation and control of remote environments. Compared to conventional networked applications, teleoperation poses widely different requirements, ultra-low latency (ULL) being the…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Learning to effectively imitate human teleoperators, with generalization to unseen and dynamic environments, is a promising path to greater autonomy enabling robots to steadily acquire complex skills from supervision. We propose a new…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…