Related papers: Bimanual proprioception: are two hands better than…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…
Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only,…
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-agent trajectory prediction that leverages different human…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control…
Developmental psychology and neuroimaging research identified a close link between numbers and fingers, which can boost the initial number knowledge in children. Recent evidence shows that a simulation of the children's embodied strategies…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
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…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions…
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Grasping is the dominant approach for robot manipulation, but only a single object can be grasped at a time. Nonprehensile manipulation offers richer set of interactions, however state-of-the-art is limited to using the end-effector only.…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-object interaction and object geometry. We propose an…