相关论文: Control the Soft Robot Arm with its Physical Twin
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and…
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…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
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…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
Teleoperating a robot arm involves the human operator positioning the robot's end-effector or programming each joint. Whereas humans can control their own arms easily by integrating visual and proprioceptive feedback, it is challenging to…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
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…