arXiv subjects

S. Egorov

Publications and source records attributed to S. Egorov.

3 recordsLinked to original sources

arXiv2025

Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning

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 arm, and a Robotiq gripper equipped with custom-designed fingers to ensure uniform pressure distribution on an embedded force sensor. Real-time compression force data is transmitted to the controller, enabling operators to perceive the gripping force applied to objects. Experimental results demonstrate that the system enhances task success rates and provides a low-cost solution for large-scale imitation learning data collection without compromising affordability.

cs.RO↗

arXiv2025

ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation

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 to synchronize the operator's hand and head movements with a UR3 robot and a custom-built robotic head with two degrees of freedom (2-DoF). The system's usability, manipulation efficiency, and intuitiveness of control were evaluated in comparison with static head camera positioning across three distinct tasks. Code and other supplementary materials can be accessed by link: https://github.com/ErkhovArtem/ViewVR

cs.RO↗

arXiv2002

The Majorana Ge-76 Double-Beta Decay Project

The Majorana Experiment is a next-generation Ge-76 double-beta decay search. It will employ 500 kg of Ge, isotopically enriched to 86% in Ge-76, in the form of 200 detectors in a close-packed array for high granularity. Each crystal will be electronically segmented, with each region fitted with pulse-shape analysis electronics. A half-life sensitivity is predicted of 4.2e27 y or < 0.02-0.07 eV, depending on the nuclear matrix elements used to interpret the data.

hep-ex↗