A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided.
Overview
This paper introduces a human-in-the-loop control framework for construction robotics that enables structured transitions between VR-guided teleoperation, semi-autonomous shared control, and rule-based autonomous execution. The system integrates immersive VR guidance, reusable skill primitives, and explicit human-robot role allocation to allow operators to retain supervisory authority while delegating repetitive or precision-critical actions to the robot. Validated on a dual-arm platform for facade-installation tasks, results indicate that autonomous execution yields best performance under well-calibrated conditions, whereas semi-autonomous control enhances resilience when environmental disturbances exceed the autonomous pipeline's correction capability and substantially reduces subjective operator workload compared to full teleoperation.
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Control: reported autonomous
“based autonomous execution for contact-rich dual-arm construction tasks. The proposed system combines immersive VR guidance, a manually defined library of reusable skill primitives, and a shared-autonomy framework with explicit human-robot role allocation and command-priority rules. This integration allows operators to retain supervisory and corrective authority while delegating repetitive and precision-critical acti”
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- arXiv Robotics — research abstractsSignalA human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
This paper introduces a human-in-the-loop control framework for construction robotics that enables structured transitions between VR-guided teleoperation, semi-autonomous shared control, and rule-based autonomous execution. The system integrates immersive VR guidance, reusable skill primitives, and explicit human-robot role allocation to allow operators to retain supervisory authority while delegating repetitive or precision-critical actions to the robot. Validated on a dual-arm platform for facade-installation tasks, results indicate that autonomous execution yields best performance under well-calibrated conditions, whereas semi-autonomous control enhances resilience when environmental disturbances exceed the autonomous pipeline's correction capability and substantially reduces subjective operator workload compared to full teleoperation.
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