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High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…
In the complex manufacturing sector a considerable amount of resources are focused on developing new skills and training workers. In that context, increasing the effectiveness of those processes and reducing the investment required is an…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
In the rapidly evolving landscape of manufacturing and material forming, innovative strategies are imperative for maintaining a competitive edge. Augmented Reality (AR) has emerged as a groundbreaking technology, offering new dimensions in…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow. This compromises task efficiency as interacting with the…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Ordinary electric woodworking tools are integrated into a multiple-object-aware augmented framework to assist operators in fabrication tasks. This study presents an advanced evaluation of the developed open-source fabrication software…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent works start to use portable data collection devices without…
This paper proposes a novel approach to scaling distributed collaboration in mixed reality by virtualizing collaborative tasks as independent, installable environments. By mapping group activities into dedicated virtual spaces that adapt to…
Additive manufacturing (AM) techniques have been used to enhance the design and fabrication of complex components for various applications in the medical, aerospace, energy, and consumer products industries. A defining feature for many AM…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…