Related papers: Deep Haptic Model Predictive Control for Robot-Ass…
Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…
One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…
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…
To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…
Humans can experience fake body parts as theirs just by simple visuo-tactile synchronous stimulation. This body-illusion is accompanied by a drift in the perception of the real limb towards the fake limb, suggesting an update of body…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…
Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
Efficient action prediction is of central importance for the fluent workflow between humans and equally so for human-robot interaction. To achieve prediction, actions can be encoded by a series of events, where every event corresponds to a…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and…
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile…