Related papers: Swoosh! Rattle! Thump! -- Actions that Sound
We explore the interpretation of sound for robot decision making, inspired by human speech comprehension. While previous methods separate sound processing unit and robot controller, we propose an end-to-end deep neural network which…
Sound and movement are closely coupled, particularly in dance. Certain audio features have been found to affect the way we move to music. Is this relationship between sound and movement something which can be modelled using machine…
Current research in robotic sounds generally focuses on either masking the consequential sound produced by the robot or on sonifying data about the robot to create a synthetic robot sound. We propose to capture, modify, and utilise rather…
In Psychology, actions are paramount for humans to identify sound events. In Machine Learning (ML), action recognition achieves high accuracy; however, it has not been asked whether identifying actions can benefit Sound Event Classification…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
Effective human action recognition is widely used for cobots in Industry 4.0 to assist in assembly tasks. However, conventional skeleton-based methods often lose keypoint semantics, limiting their effectiveness in complex interactions. In…
Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper…
How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired…
Wearable robotic devices have potential to assist and protect their users. Toward design of a Smart Helmet, this article examines the effectiveness of audio and visual warnings to help participants brace for impacts. A user study examines…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…
Humans use audio signals in the form of spoken language or verbal reactions effectively when teaching new skills or tasks to other humans. While demonstrations allow humans to teach robots in a natural way, learning from trajectories alone…
Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…
A learning path is proposed starting from the characterization of a sound wave, showing how human beings emit articulate sounds in the language, introducing psychoacoustics, i.e. how the sound interacts with ears and it is transduced into…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
In this paper we present a system that detects and tracks objects and agents, computes spatial relations, and communicates those relations to the user using speech. Our system is able to detect multiple objects and agents at 30 frames per…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…