Related papers: Interacting With a Mobile Robot with a Natural Inf…
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can…
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.…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
With increased applications of collaborative robots (cobots) in industrial workplaces, behavioural effects of human-cobot interactions need to be further investigated. This is of particular importance as nonverbal behaviours of…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
This paper describes a global framework that enables contactless human machine interaction using computer vision and machine learning techniques. The main originality of our framework is that only a very simple image acquisition device, as…
In recent years robots have become an important part of our day-to-day lives with various applications. Human-robot interaction creates a positive impact in the field of robotics to interact and communicate with the robots. Gesture…