Related papers: Human Perception-Optimized Planning for Comfortabl…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
Immersive VR telepresence ideally means being able to interact and communicate with digital avatars that are indistinguishable from and precisely reflect the behaviour of their real counterparts. The core technical challenge is two fold:…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Mixed Reality (MR) headsets promise a future of immersive telepresence where virtual humans blend indistinguishably into real or virtual surroundings. Achieving this vision requires a method for capturing a user's motion, estimating…
This paper presents a new method, based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for access and visibility task taking into account ergonomic constraints or…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Mobile telepresence robots allow users to feel present and explore remote environments using technology. Traditionally, these systems are implemented using a camera onboard a mobile robot that can be controlled. Although high-immersion…
This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic constraints. In order to solve this problem,…
Virtual reality (VR) is not a new technology but has been in development for decades, driven by advances in computer technology. Currently, VR technology is increasingly being used in applications to enable immersive, yet controlled…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…
Virtual Reality (VR) is gaining ground in the robotics and teleoperation industry, opening new prospects as a novel computerized methodology to make humans interact with robots. In contrast with more conventional button-based…
Virtual reality (VR) is an imminent trend in games, education, entertainment, military, and health applications, as the use of head-mounted displays is becoming accessible to the mass market. Virtual reality provides immersive experiences…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…