Abstract: Bimanual teleoperation tasks are highly demanding for human operators, requiring the simultaneous control of two robotic arms while managing complex coordination and cognitive load. Current approaches to this challenge often rely on rigid control schemes or task-specific automations that do not adapt well to dynamic environments or varied operator needs. This … [Read more...] about Large-Language-Model-Aided Assistive Robot for Single-Operator Bimanual Teleoperation: Introduction and Validation of a Flexible Assistance System
Real-time systems
Dynamic Importance-Weighted Fusion Network Based on Dynamic Convolutions for Hand Posture Recognition: A Technique Based on Red, Green, Blue Plus Depth Cameras
Hand posture recognition technology makes humancomputer interaction more natural and efficient. Existing hand posture recognition algorithms are mainly based on RGB images or depth data, each of which has its limitations: the former is susceptible to the interference of lighting and background color, while the latter is difficult to capture details and affects accuracy. To … [Read more...] about Dynamic Importance-Weighted Fusion Network Based on Dynamic Convolutions for Hand Posture Recognition: A Technique Based on Red, Green, Blue Plus Depth Cameras
Towards Fully Integrated Autonomous Excavation: Autonomous Excavator for Precise Earth Cutting and Onboard Landscape Inspection
Autonomous excavator systems can alleviate the issues caused by the shortage of skilled labor forces and increasing labor costs. For autonomous excavation, real-time landscape estimation, excavation path generation, control, and precise landscape inspection are all essential. In this article, we propose and experimentally validate an integrated autonomous excavator system … [Read more...] about Towards Fully Integrated Autonomous Excavation: Autonomous Excavator for Precise Earth Cutting and Onboard Landscape Inspection
Neuromorphic Quadratic Programming for Efficient and Scalable Model Predictive Control: Towards Advancing Speed and Energy Efficiency in Robotic Control
Applications in robotics or other size-, weight- and power-constrained autonomous systems at the edge often require real-time and low-energy solutions to large optimization problems. Event-based and memory-integrated neuromorphic architectures promise to solve such optimization problems with superior energy efficiency and performance compared to conventional von Neumann … [Read more...] about Neuromorphic Quadratic Programming for Efficient and Scalable Model Predictive Control: Towards Advancing Speed and Energy Efficiency in Robotic Control
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to … [Read more...] about Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation
