相关论文: Input-gated Bilateral Teleoperation: An Easy-to-im…
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…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
The traditional master-slave teleoperation relies on human expertise without correction mechanisms, resulting in excessive physical and mental workloads. To address these issues, a co-pilot-in-the-loop control framework is investigated for…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
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…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the…
Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…
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…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…
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…
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…