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The use of semi-autonomous and autonomous robotic assistants to aid in care of the elderly is expected to ease the burden on human caretakers, with small-stage testing already occurring in a variety of countries. Yet, it is likely that…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…
This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initial and goal object configurations in a pick-and-place task.…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
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;…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
Mobile grasping enhances manipulation efficiency by utilizing robots' mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the…
Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions…