Related papers: Visual Room-Awareness for Humanoid Robot Self-Loca…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
This paper introduces the research effort of an undergraduate research team in realizing robot localization. More specifically, the undergraduate research team developed and tested wall-following software that allowed a ground robot Roombas…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception…
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to enable the robot to both achieve specific, desired footholds…
Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
We introduce algorithms to visualize feature spaces used by object detectors. Our method works by inverting a visual feature back to multiple natural images. We found that these visualizations allow us to analyze object detection systems in…
Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. Within this paper, we present methods that…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…