Related papers: High-level programming and control for industrial …
A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Recent advances in multimodal Human-Robot Interaction (HRI) datasets emphasize the integration of speech and gestures, allowing robots to absorb explicit knowledge and tacit understanding. However, existing datasets primarily focus on…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
Gesture interaction is a natural way of communicating with a robot as an alternative to speech. Gesture recognition methods leverage optical flow in order to understand human motion. However, while accurate optical flow estimation (i.e.,…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
Spotting signal patterns with varying lengths has been still an open problem in the literature. In this study, we describe a signal pattern recognition approach for continuous and simultaneous classification of a tracked hand's posture and…
Kinematic trajectories recorded from surgical robots contain information about surgical gestures and potentially encode cues about surgeon's skill levels. Automatic segmentation of these trajectories into meaningful action units could help…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…