Related papers: Gesture-based Piloting of an Aerial Robot using Mo…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…
The ability to converse with humans and follow natural language commands is crucial for intelligent unmanned aerial vehicles (a.k.a. drones). It can relieve people's burden of holding a controller all the time, allow multitasking, and make…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…
The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is…
In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot…
Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its…
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…
Recent technological advancements in small-scale unmanned aerial vehicles (UAVs) have led to the development of companion UAVs. Similar to conventional companion robots, companion UAVs have the potential to assist us in our daily lives and…
The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where natural language can express the operation goals while visual feedback links perception to action. However, directly deploying…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…
Modeling 3D objects in domains like Computer Aided Design (CAD) is time-consuming and comes with a steep learning curve needed to master the design process as well as tool complexities. In order to simplify the modeling process, we designed…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…