Related papers: Proximity Perception in Human-Centered Robotics: A…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
With the rapid development of the Internet of Things (IoT) and the rise of 5G communication networks and automatic driving, millimeter wave (mmWave) sensing is emerging and starts impacting our life and workspace. mmWave sensing can sense…
The proximity perception of objects in granular materials is significant, especially for applications like minesweeping. However, due to particles' opacity and complex properties, existing proximity sensors suffer from high costs from…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Touch sensing, as a major human/machine interface, is widely used in various commercial products such as smart watches, mobile phones, tablets and TVs. State-of-the-art touch detections are mainly based on mutual capacitive sensing, which…
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informative path planning. Clarity defines the quality of the…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…
This paper explores the paradigm of Collaborative Perception (CP), where multiple robots and sensors in the environment share and integrate sensor data to construct a comprehensive representation of the surroundings. By aggregating data…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the…
Virtual reality (VR) has been increasingly utilised as a simulation tool for human-robot interaction (HRI) studies due to its ability to facilitate fast and flexible prototyping. Despite efforts to achieve high validity in VR studies,…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…