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We are approaching a future where social robots will progressively become widespread in many aspects of our daily lives, including education, healthcare, work, and personal use. All of such practical applications require that humans and…
With increasing applications of 3D hand pose estimation in various human-computer interaction applications, convolution neural networks (CNNs) based estimation models have been actively explored. However, the existing models require complex…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…
New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant manual tuning, or depend on data-intensive training. To…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
This paper introduces DogSurf - a newapproach of using quadruped robots to help visually impaired people navigate in real world. The presented method allows the quadruped robot to detect slippery surfaces, and to use audio and haptic…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
A large number of robotic and human-assisted missions to the Moon and Mars are forecast. NASA's efforts to learn about the geology and makeup of these celestial bodies rely heavily on the use of robotic arms. The safety and redundancy…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…
We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments. The handheld motion controller enables natural control of…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…
A robot's ability to anticipate the 3D action target location of a hand's movement from egocentric videos can greatly improve safety and efficiency in human-robot interaction (HRI). While previous research predominantly focused on semantic…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…