Reproduce “A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation” on OpenResearch
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About this paper
Jinhua Chen, Xiaoji Xu, Zhongyuan Liao, Huang Zhenmin, Zhang Ye, Changying Xiang
The authors present a shared-control system for façade installation, in which operators set task intent and guide uncertain actions while a dual-arm robot executes repeatable precision tasks with safety filtering and operator override. In laboratory mock-up drilling, fixed rule-based Auto achieved 96% success under nominal conditions, while Semi-Auto achieved 73% under 75% occlusion versus Auto’s 33%; validation was not at height.
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