Related papers: Sensing Volume Coverage of Robot Workspace using O…
The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
We introduce pulsed correlation time-of-flight (PC-ToF) sensing, a new operation mode for correlation time-of-flight range sensors that combines a sub-nanosecond laser pulse source with a rectangular demodulation at the sensor side. In…
For humans and robots to form an effective human-robot team (HRT) there must be sufficient trust between team members throughout a mission. We analyze data from an HRT experiment focused on trust dynamics in teams of one human and two…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i)…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
Time of Flight ToF cameras renowned for their ability to capture realtime 3D information have become indispensable for agile mobile robotics These cameras utilize light signals to accurately measure distances enabling robots to navigate…