5 papers
Low-Cost Teleoperation Extension for Mobile Manipulators
Danil Belov, Artem Erkhov, Yaroslav Savotin +3
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-sou…
Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
S. Satsevich, A. Bazhenov, S. Egorov +4
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic…
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov, Artem Erkhov, Elizaveta Pestova +3
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for qu…
ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation
A. Erkhov, A. Bazhenov, S. Satsevich +6
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used…
Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
Danil Belov, Artem Erkhov, Farit Khabibullin +5
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position an…