Related papers: Human-Robot Handovers using Task-Space Quadratic P…
Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…
Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…
Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which is the accuracy with which these QPs should be solved. QP…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should take. While symbolic temporal relations…
Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…