相关论文: A Closed-Form Geometric Retargeting Solver for Upp…
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like. We present Human-Like Inverse Kinematics (HL-IK), a…
This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO adapts commands from the operator in real-time and ensures…
Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
We introduce Geometric Retargeting (GeoRT), an ultrafast, and principled neural hand retargeting algorithm for teleoperation, developed as part of our recent Dexterity Gen (DexGen) system. GeoRT converts human finger keypoints to robot hand…
Humanoid motion tracking policies are central to building teleoperation pipelines and hierarchical controllers, yet they face a fundamental challenge: the embodiment gap between humans and humanoid robots. Current approaches address this…
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…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
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 systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
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…
For robots to become efficient helpers in the home, they must learn to perform new mobile manipulation tasks simply by watching humans perform them. Learning from a single video demonstration from a human is challenging as the robot needs…
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…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
Retargeting motion across characters with varying body shapes while preserving interaction semantics, such as self-contact and near-body proximity, remains a challenging problem. While recent geometry-aware approaches address this by…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
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…