相关论文: Control the Soft Robot Arm with its Physical Twin
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
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…
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…
While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these…
Telepresence is a necessity for present time as we can't reach everywhere and also it is useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. This could be…
Teleoperated robots are playing an increasingly important role in military actions and medical services. In the future, remotely operated surgical robots will likely be used in more scenarios such as battlefields and emergency response. But…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
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…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
This paper presents a teleoperation system for controlling a redundant degree of freedom robot manipulator using human arm gestures. We propose a GRU-based Variational Autoencoder to learn a latent representation of the manipulator's…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
Multi-robot systems face challenges in reducing human interventions as they are often deployed in dangerous environments. It is therefore necessary to include a methodology to assess robot failure rates to reduce the requirement for costly…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…