This paper proposes an intuitive and immersive whole-body teleoperation system with motion-based control and multi-modal feedback. The system consists of an anthropomorphic teleoperated robot and a haptic interface platform. The teleoperated robot has dual arms with dexterous hands, a head with a neck, a waist, giving it a human-like appearance and a large range of motion … [Read more...] about A Whole-Body Integrated AVATAR System: Implementation of Telepresence With Intuitive Control and Immersive Feedback
Kinematics
Caveats on the First-Generation da Vinci Research Kit: Latent Technical Constraints and Essential Calibrations [Survey]
Telesurgical robotic systems provide a well established form of assistance in the operating theater, with evidence of growing uptake in recent years. Until now, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, California) has been the most widely adopted robot of this kind, with more than 6,700 systems in current clinical use worldwide [1]. To accelerate … [Read more...] about Caveats on the First-Generation da Vinci Research Kit: Latent Technical Constraints and Essential Calibrations [Survey]
Human–Humanoid Robots’ Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning From Demonstration: HOTU, a Human–Humanoid Robots’ Skill Transfer Framework
Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios that require strenuous and repetitive labor. However, learning these skills is challenging due to the high degrees of freedom of humanoid robots, and collecting sufficient training data for humanoid is a laborious … [Read more...] about Human–Humanoid Robots’ Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning From Demonstration: HOTU, a Human–Humanoid Robots’ Skill Transfer Framework
The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
The Open Stack of Tasks (OpenSoT) library is a state-of-the-art framework for instantaneous whole-body motion planning and control based on quadratic programming optimization. The library is designed to enable users to easily write and solve a variety of complex instantaneous whole-body control problems with minimal input, facilitating the addition of new tasks, constraints, … [Read more...] about The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
RoboTwin: A Platform to Study Hydrodynamic Interactions in Schooling Fish
By living and moving in groups, fish can gain many benefits, such as heightened predator detection, greater hunting efficiency, more accurate environmental sensing, and energy saving. Although the benefits of hydrodynamic interactions in schooling fish have drawn growing interest in fields such as biology, physics, and engineering, and multiple hypotheses for how such benefits … [Read more...] about RoboTwin: A Platform to Study Hydrodynamic Interactions in Schooling Fish
