相关论文: Towards Universal Shared Control in Teleoperation …
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators…
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…