Related papers: WeHelp: A Shared Autonomy System for Wheelchair Us…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
In this paper, we propose a modular navigation system that can be mounted on a regular powered wheelchair to assist disabled children and the elderly with autonomous mobility and shared-control features. The lack of independent mobility…
Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot…
In this paper, we explore the design and use of conversational telepresence robots to help homebound older adults interact with the external world. An initial needfinding study (N=8) using video vignettes revealed older adults' experiential…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
In this study, a new concept of a wheelchair-towing robot for the facile electrification of manual wheelchairs is introduced. The development of this concept includes the design of towing robot hardware and an autonomous driving algorithm…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…