Related papers: Sound Matters: Auditory Detectability of Mobile Ro…
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…
Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual or tactile sensing, where unfortunately one fails to capture…
When operating at their full capacity, quadrupedal robots can produce loud footstep noise, which can be disruptive in human-centered environments like homes, offices, and hospitals. As a result, balancing locomotion performance with noise…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…
Speech emotion recognition (SER) is an important aspect of effective human-robot collaboration and received a lot of attention from the research community. For example, many neural network-based architectures were proposed recently and…
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers,…
The increasing popularity of autonomous and remotely-piloted drones have paved the way for several use-cases, e.g., merchandise delivery and surveillance. In many scenarios, estimating with zero-touch the weight of the payload carried by a…
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…
Underlying mechanisms of speech perception masked by background speakers, a common daily listening condition, are often investigated using various and lengthy psychophysical tests. The presence of a social agent, such as an interactive…
Deepfakes have become a universal and rapidly intensifying concern of generative AI across various media types such as images, audio, and videos. Among these, audio deepfakes have been of particular concern due to the ease of high-quality…
We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem because of the visual occlusions and noise from robot…
The 'intuitive' trust people feel when encountering robots in public spaces is a key determinant of their willingness to cooperate with these robots. We conducted four experiments to study this topic in the context of peacekeeping robots.…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
Assessing the presence and abundance of birds is important for monitoring specific species as well as overall ecosystem health. Many birds are most readily detected by their sounds, and thus passive acoustic monitoring is highly…
Robot dogs are receiving increasing attention in various fields of research. However, the number of studies investigating their potential usability on construction sites is scarce. The construction industry implies several human…