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The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this…
Social robots often rely on visual perception to understand their users and the environment. Recent advancements in data-driven approaches for computer vision have demonstrated great potentials for applying deep-learning models to enhance a…
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…
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
In recent years, significant advances in computer vision have also propelled progress in remote sensing. Concurrently, the use of drones has expanded, with many organizations incorporating them into their operations. Most drones are…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
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,…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…
Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
A sensor is a device that converts a physical parameter or an environmental characteristic (e.g., temperature, distance, speed, etc.) into a signal that can be digitally measured and processed to perform specific tasks. Mobile robots need…
Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…