Related papers: A System for Traded Control Teleoperation of Manip…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic…
In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
Eye movement is closely related to limb actions, so it can be used to infer movement intentions. More importantly, in some cases, eye movement is the only way for paralyzed and impaired patients with severe movement disorders to communicate…
Recognising intent in collaborative human robot tasks can improve team performance and human perception of robots. Intent can differ from the observed outcome in the presence of mistakes which are likely in physically dynamic tasks. We…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Interaction intention anticipation aims to jointly predict future hand trajectories and interaction hotspots. Existing research often treated trajectory forecasting and interaction hotspots prediction as separate tasks or solely considered…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…