相关论文: ViewVR: Visual Feedback Modes to Achieve Quality o…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic…
Teleportation, a widely-used locomotion technique in Virtual Reality (VR), allows instantaneous movement within VR environments. Enhanced hand tracking in modern VR headsets has popularized hands-only teleportation methods, which eliminate…
In this paper, we show that unwinding the rotations of a user immersed in a telepresence robot is preferred and may increase the feeling of presence or "being there". By immersive telepresence, we mean a scenario where a user wearing a…
Teleoperation emerged as a promising fallback for situations beyond the capabilities of automated vehicles. Nevertheless, teleoperation still faces challenges, such as reduced situational awareness. Since situational awareness is primarily…
Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks. However, these approaches pretrain only on 2D images, while many robotics…
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…
This work compares three locomotion techniques for an immersive VR environment: two different types of teleporting (with and without animation) and a manual (joystick-based) technique. We tested the effect of these techniques on visual…
Virtual reality (VR) is an emerging technology of great societal potential. Some of its most exciting and promising use cases include remote scene content and untethered lifelike navigation. This article first highlights the relevance of…
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-based prototypes often lack physical contact, breaking users'…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
360{\deg} video is attracting an increasing amount of attention in the context of Virtual Reality (VR). Owing to its very high-resolution requirements, existing professional streaming services for 360{\deg} video suffer from severe…
Immersive virtual reality (VR) applications demand accurate, temporally coherent full-body pose tracking. Recent head-mounted camera-based approaches show promise in egocentric pose estimation, but encounter challenges when applied to VR…
Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…