Related papers: Gaze Stabilization for Humanoid Robots: a Comprehe…
To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
Robots are prone to making errors, which can negatively impact their credibility as teammates during collaborative tasks with human users. Detecting and recovering from these failures is crucial for maintaining effective level of trust from…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…
Gaze stabilization is critical for enabling fluid, accurate, and efficient interaction in immersive augmented reality (AR) environments, particularly during task-oriented visual behaviors. However, fixation sequences captured in active gaze…
As robot systems become more ubiquitous, developing understandable robot systems becomes increasingly important in order to build trust. In this paper, we present an approach to developing a holistic robot explanation system, which consists…
Active perception and foveal vision are the foundations of the human visual system. While foveal vision reduces the amount of information to process during a gaze fixation, active perception will change the gaze direction to the most…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…
We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…