7 accepted papers
We address real-time obstacle avoidance for redundant manipulators where tracking and safety constraints can conflict and render quadratic programs (QPs) infeasible. We propose AVO-QP, a sensor-guided velocity-level planner that fuses RGB-D depth with learned detection to maintain situational awaren
Teleoperation offers the possibility of enabling robots to replace humans in operating within hazardous environments. While it provides greater adaptability to unstructured settings than full autonomy, it also imposes significant burdens on human operators, leading to operational errors. To address
Robotic grasping guided by natural language instructions faces challenges due to ambiguities in object descriptions and the need to interpret complex spatial context. Existing visual grounding methods often rely on datasets that fail to capture these complexities, particularly when object categories
Collaborative robots sensing and understanding the movements and intentions of their human partners are crucial for realizing human-robot collaboration. Human skeleton sequences are widely recognized as a kind of data with great application potential in human action recognition. In this letter, a mu
Touch-free guided hand gesture recognition for human-robot interactions plays an increasingly significant role in teleoperated surgical robot systems. Indeed, despite depth cameras provide more practical information for recognition accuracy enhancement, the instability and computational burden of de
Under-actuated bionic hands have achieved tremendous popularity in many fields because of their advantages of lightweight, budget-friendly, satisfactory flexibility, and adaptability. Except for the bionic mechanical design, various anthropomorphic control strategies have been proposed and investiga…
For bilateral teleoperation, the haptic feedback demands the availability of accurate force information transmitted from the remote site. Nevertheless, due to the limitation of the size, the force sensor is usually attached outside of the patient's abdominal cavity for the surgical operation. Hence,