Related papers: ContactHandover: Contact-Guided Robot-to-Human Obj…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
The Minimum Jerk motion model has long been cited in literature for human point-to-point reaching motions in single-person tasks. While it has been demonstrated that applying minimum-jerk-like trajectories to robot reaching motions in the…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…
Human-robot object handover is a key skill for the future of human-robot collaboration. CORSMAL 2020 Challenge focuses on the perception part of this problem: the robot needs to estimate the filling mass of a container held by a human.…