7 papers
From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation
Murilo Vinicius da Silva, Ricardo V. Godoy, Juliano Negri +3
Teleoperating a robotic manipulator in industrial environments demands precision that camera-based interfaces alone struggle to deliver. The operator must align the end-effector wi…
Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
Dilermando Almeida, Juliano Negri, Guilherme Lazzarini +5
Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many useful interventions still require physical interaction with tools, con…
A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot
Murilo Vinicius da Silva, Matheus Hipolito Carvalho, Juliano Negri +4
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mob…
IMA-Catcher: An IMpact-Aware Nonprehensile Catching Framework based on Combined Optimization and Learning
Francesco Tassi, Jianzhuang Zhao, Gustavo J. G. Lahr +5
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass t…
Context-aware collaborative pushing of heavy objects using skeleton-based intention prediction
Gokhan Solak, Gustavo J. G. Lahr, Idil Ozdamar +1
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to…
MIHRaGe: A Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control
Rafael R. Baptista, Nina R. Gerszberg, Ricardo V. Godoy +1
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method f…